From cf95884dcb12b0c4e5bde8889e1dd12400465c6b Mon Sep 17 00:00:00 2001 From: mcarfagno Date: Fri, 23 Oct 2020 15:18:36 +0100 Subject: [PATCH] heading error issues hotfixes --- notebooks/MPC_racecar_tracking.ipynb | 144 +++++++++++++++------------ 1 file changed, 79 insertions(+), 65 deletions(-) diff --git a/notebooks/MPC_racecar_tracking.ipynb b/notebooks/MPC_racecar_tracking.ipynb index 98cefaa..0752337 100644 --- a/notebooks/MPC_racecar_tracking.ipynb +++ b/notebooks/MPC_racecar_tracking.ipynb @@ -454,7 +454,7 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 31, "metadata": {}, "outputs": [], "source": [ @@ -531,11 +531,11 @@ " xref[3, 0] = path[2,ind] #Theta\n", " dref[0, 0] = 0.0 # steer operational point should be 0\n", " \n", - " dl = 0.05 # Waypoints spacing\n", + " dl = 0.05 # Waypoints spacing [m]\n", " travel = 0.0\n", "\n", " for i in range(T + 1):\n", - " travel += abs(state[2]) * DT #current V or target V?\n", + " travel += abs(target_v) * DT #current V or target V?\n", " dind = int(round(travel / dl))\n", "\n", " if (ind + dind) < ncourse:\n", @@ -649,7 +649,7 @@ }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 43, "metadata": {}, "outputs": [ { @@ -673,18 +673,18 @@ " warm start: on, polish: on, time_limit: off\n", "\n", "iter objective pri res dua res rho time\n", - " 1 0.0000e+00 1.04e+00 1.05e+02 1.00e-01 3.63e-04s\n", - " 75 1.7529e+03 4.70e-07 1.49e-06 1.55e+00 1.01e-03s\n", + " 1 0.0000e+00 5.08e+00 5.08e+02 1.00e-01 3.55e-04s\n", + " 175 1.7545e+02 5.84e-05 5.89e-05 6.89e+00 1.77e-03s\n", "\n", "status: solved\n", "solution polish: unsuccessful\n", - "number of iterations: 75\n", - "optimal objective: 1752.9093\n", - "run time: 1.26e-03s\n", - "optimal rho estimate: 3.18e+00\n", + "number of iterations: 175\n", + "optimal objective: 175.4495\n", + "run time: 2.96e-03s\n", + "optimal rho estimate: 6.44e+00\n", "\n", - "CPU times: user 118 ms, sys: 0 ns, total: 118 ms\n", - "Wall time: 115 ms\n" + "CPU times: user 116 ms, sys: 37 µs, total: 116 ms\n", + "Wall time: 116 ms\n" ] } ], @@ -730,7 +730,7 @@ "constr = []\n", "\n", "# Cost Matrices\n", - "Q = np.diag([200,200,100,10]) #state error cost\n", + "Q = np.diag([10,10,10,10]) #state error cost\n", "Qf = np.diag([10,10,10,10]) #state final error cost\n", "R = np.diag([10,10]) #input cost\n", "R_ = np.diag([10,10]) #input rate of change cost\n", @@ -768,12 +768,12 @@ }, { "cell_type": "code", - "execution_count": 20, + "execution_count": 44, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] @@ -788,7 +788,7 @@ "v_mpc=np.array(x.value[2, :]).flatten()\n", "theta_mpc=np.array(x.value[3, :]).flatten()\n", "a_mpc=np.array(u.value[0, :]).flatten()\n", - "w_mpc=np.array(u.value[1, :]).flatten()\n", + "delta_mpc=np.array(u.value[1, :]).flatten()\n", "\n", "#simulate robot state trajectory for optimized U\n", "x_traj=predict(x0, np.vstack((a_mpc,w_mpc)))\n", @@ -796,26 +796,27 @@ "#plt.figure(figsize=(15,10))\n", "#plot trajectory\n", "plt.subplot(2, 2, 1)\n", - "plt.plot(track[0,:],track[1,:],\"b+\")\n", + "plt.plot(track[0,:],track[1,:],\"b\")\n", + "plt.plot(x_ref[0,:],x_ref[1,:],\"g+\")\n", "plt.plot(x_traj[0,:],x_traj[1,:])\n", "plt.axis(\"equal\")\n", "plt.ylabel('y')\n", "plt.xlabel('x')\n", "\n", "#plot v(t)\n", - "plt.subplot(2, 2, 2)\n", + "plt.subplot(2, 2, 3)\n", "plt.plot(a_mpc)\n", - "plt.ylabel('a(t)')\n", + "plt.ylabel('a_in(t)')\n", "#plt.xlabel('time')\n", "\n", "\n", - "plt.subplot(2, 2, 4)\n", + "plt.subplot(2, 2, 2)\n", "plt.plot(theta_mpc)\n", "plt.ylabel('theta(t)')\n", "\n", - "plt.subplot(2, 2, 3)\n", - "plt.plot(v_mpc)\n", - "plt.ylabel('v(t)')\n", + "plt.subplot(2, 2, 4)\n", + "plt.plot(delta_mpc)\n", + "plt.ylabel('d_in(t)')\n", "\n", "plt.tight_layout()\n", "plt.show()" @@ -830,24 +831,20 @@ }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 52, "metadata": {}, "outputs": [ { - "ename": "NameError", - "evalue": "name 'road_curve' is not defined", - "output_type": "error", - "traceback": [ - "\u001b[0;31m---------------------------------------\u001b[0m", - "\u001b[0;31mNameError\u001b[0mTraceback (most recent call last)", - "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[1;32m 32\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 33\u001b[0m \u001b[0miter_start\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mtime\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtime\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 34\u001b[0;31m \u001b[0mK\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mroad_curve\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx_sim\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0msim_time\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mtrack\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 35\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 36\u001b[0m \u001b[0;31m# dynamics starting state w.r.t vehicle frame\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", - "\u001b[0;31mNameError\u001b[0m: name 'road_curve' is not defined" + "name": "stdout", + "output_type": "stream", + "text": [ + "CVXPY Optimization Time: Avrg: 0.1121s Max: 0.1404s Min: 0.1029s\n" ] } ], "source": [ "track = compute_path_from_wp([0,3,4,6,10,12,14,6,1,0],\n", - " [0,0,2,4,3,3,-2,-6,-2,-2],0.5)\n", + " [0,0,2,4,3,3,-2,-6,-2,-2],0.05)\n", "\n", "# track = compute_path_from_wp([0,5,7.5,10,12,13,13,10],\n", "# [0,0,2.5,2.5,0,0,5,10],0.5)\n", @@ -858,32 +855,30 @@ "x_sim = np.zeros((N,sim_duration))\n", "u_sim = np.zeros((M,sim_duration-1))\n", "\n", - "MAX_SPEED = 1.25\n", - "MIN_SPEED = 0.75\n", - "MAX_STEER = 1.57/2\n", + "MAX_SPEED = 1.5 #m/s\n", + "MAX_STEER = np.radians(30) #rad\n", "MAX_ACC = 1.0\n", + "REF_VEL=1.0\n", "\n", "# Starting Condition\n", "x0 = np.zeros(N)\n", - "x0[0] = 0\n", - "x0[1] = -0.25\n", - "x0[2] = 0\n", - "x0[3] = np.radians(-0)\n", - "x_sim[:,0]=x0\n", + "x0[0] = 0 #x\n", + "x0[1] = -0.25 #y\n", + "x0[2] = 0.0 #v\n", + "x0[3] = np.radians(-0) #yaw\n", " \n", "#starting guess\n", "u_bar = np.zeros((M,T))\n", - "u_bar[0,:]=0.5\n", - "u_bar[1,:]=0.01\n", + "u_bar[0,:] = MAX_ACC/2 #a\n", + "u_bar[1,:] = 0.1 #delta\n", "\n", "for sim_time in range(sim_duration-1):\n", " \n", " iter_start=time.time()\n", - " K=road_curve(x_sim[:,sim_time],track)\n", " \n", - " # dynamics starting state w.r.t vehicle frame\n", - " x_bar=np.zeros((N,T+1))\n", - " x_bar[2,0]=x_sim[2,sim_time]\n", + " # dynamics starting state\n", + " x_bar = np.zeros((N,T+1))\n", + " x_bar[:,0] = x_sim[:,sim_time]\n", " \n", " #prediction for linearization of costrains\n", " for t in range (1,T+1):\n", @@ -894,35 +889,43 @@ " x_bar[:,t]= xt_plus_one\n", " \n", " #CVXPY Linear MPC problem statement\n", - " cost = 0\n", - " constr = []\n", " x = cp.Variable((N, T+1))\n", " u = cp.Variable((M, T))\n", + " cost = 0\n", + " constr = []\n", + "\n", + " # Cost Matrices\n", + " Q = np.diag([20,20,10,0]) #state error cost\n", + " Qf = np.diag([10,10,10,10]) #state final error cost\n", + " R = np.diag([10,10]) #input cost\n", + " R_ = np.diag([10,10]) #input rate of change cost\n", + "\n", + " #Get Reference_traj\n", + " x_ref, d_ref = get_ref_trajectory(x_bar[:,0] ,track, REF_VEL)\n", " \n", " #Prediction Horizon\n", " for t in range(T):\n", "\n", - " cost += 30*cp.sum_squares(x[3,t]-np.arctan(df(x_bar[0,t],K))) # psi\n", - " cost += 20*cp.sum_squares(f(x_bar[0,t],K)-x[1,t]) # cte\n", - " cost += 10*cp.sum_squares(1.-x[2,t]) # desired v\n", + " # Tracking Error\n", + " cost += cp.quad_form(x[:,t]-x_ref[:,t], Q)\n", + "\n", + " # Actuation effort\n", + " cost += cp.quad_form( u[:, t], R)\n", "\n", " # Actuation rate of change\n", " if t < (T - 1):\n", - " cost += cp.quad_form(u[:, t + 1] - u[:, t], 10*np.eye(M))\n", - " \n", - " # Actuation effort\n", - " cost += cp.quad_form( u[:, t],10*np.eye(M))\n", - " \n", + " cost += cp.quad_form(u[:, t + 1] - u[:, t], R_)\n", + "\n", " # Kinrmatics Constrains (Linearized model)\n", " A,B,C=get_linear_model(x_bar[:,t],u_bar[:,t])\n", " constr += [x[:,t+1] == A@x[:,t] + B@u[:,t] + C.flatten()]\n", "\n", " # sums problem objectives and concatenates constraints.\n", - " constr += [x[:,0] == x_bar[:,0]] #<--watch out the start condition\n", - " constr += [x[2, :] <= MAX_SPEED]\n", - " constr += [x[2, :] >= 0.0]\n", - " constr += [cp.abs(u[0, :]) <= MAX_ACC]\n", - " constr += [cp.abs(u[1, :]) <= MAX_STEER]\n", + " constr += [x[:,0] == x_bar[:,0]] #starting condition\n", + " constr += [x[2, :] <= MAX_SPEED] #max speed\n", + " constr += [x[2, :] >= 0.0] #min_speed (not really needed)\n", + " constr += [cp.abs(u[0, :]) <= MAX_ACC] #max acc\n", + " constr += [cp.abs(u[1, :]) <= MAX_STEER] #max steer\n", " \n", " # Solve\n", " prob = cp.Problem(cp.Minimize(cost), constr)\n", @@ -938,7 +941,7 @@ " opt_time.append(time.time()-iter_start)\n", " \n", " # move simulation to t+1\n", - " tspan = [0,dt]\n", + " tspan = [0,DT]\n", " x_sim[:,sim_time+1] = odeint(kinematics_model,\n", " x_sim[:,sim_time],\n", " tspan,\n", @@ -951,9 +954,20 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 53, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], "source": [ "#plot trajectory\n", "grid = plt.GridSpec(4, 5)\n",