From e15702c29428b4bb6bb668fbe92ccd464eaed304 Mon Sep 17 00:00:00 2001 From: mcarfagno Date: Mon, 4 May 2020 15:16:29 +0100 Subject: [PATCH] interpolation distance of track wp --- notebook/MPC_cte_cvxpy.ipynb | 84 ++++++++++++++++++++---------------- notebook/equations.ipynb | 40 ++++++++--------- 2 files changed, 66 insertions(+), 58 deletions(-) diff --git a/notebook/MPC_cte_cvxpy.ipynb b/notebook/MPC_cte_cvxpy.ipynb index a92604f..7144149 100644 --- a/notebook/MPC_cte_cvxpy.ipynb +++ b/notebook/MPC_cte_cvxpy.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 71, + "execution_count": 138, "metadata": {}, "outputs": [], "source": [ @@ -48,11 +48,13 @@ "* ${y_{t+1}} = y_{t} + v_t\\sin{\\theta}*dt$\n", "* ${\\theta_{t+1}} = \\theta_{t} + w_t*dt$\n", "\n", - "This Model is **non-linear** and **time variant**, to approximate its equivalent **LTI** State space model, the **Taylor's series expansion** is used around $\\bar{x}$ and $\\bar{u}$ at each time step:\n", + "----------------------\n", + "\n", + "The Model is **non-linear** and **time variant**, but the Numerical Optimizer requires a Linear sets of equations. To approximate the equivalent **LTI** State space model, the **Taylor's series expansion** is used around $\\bar{x}$ and $\\bar{u}$ (at each time step):\n", "\n", "$ f(x,u) \\approx f(\\bar{x},\\bar{u}) + \\frac{\\partial f(x,u)}{\\partial x}|_{x=\\bar{x},u=\\bar{u}}(x-\\bar{x}) + \\frac{\\partial f(x,u)}{\\partial u}|_{x=\\bar{x},u=\\bar{u}}(u-\\bar{u})$\n", "\n", - "For the State Space model this can be rewritten as:\n", + "This can be rewritten usibg the State Space model form Ax+Bu :\n", "\n", "$ f(\\bar{x},\\bar{u}) + A|_{x=\\bar{x},u=\\bar{u}}(x-\\bar{x}) + B|_{x=\\bar{x},u=\\bar{u}}(u-\\bar{u})$\n", "\n", @@ -177,7 +179,7 @@ }, { "cell_type": "code", - "execution_count": 72, + "execution_count": 139, "metadata": {}, "outputs": [], "source": [ @@ -191,7 +193,7 @@ }, { "cell_type": "code", - "execution_count": 73, + "execution_count": 140, "metadata": {}, "outputs": [], "source": [ @@ -232,7 +234,7 @@ }, { "cell_type": "code", - "execution_count": 74, + "execution_count": 141, "metadata": {}, "outputs": [], "source": [ @@ -284,15 +286,15 @@ }, { "cell_type": "code", - "execution_count": 75, + "execution_count": 142, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 0 ns, sys: 6.46 ms, total: 6.46 ms\n", - "Wall time: 5.05 ms\n" + "CPU times: user 6.71 ms, sys: 0 ns, total: 6.71 ms\n", + "Wall time: 5.35 ms\n" ] } ], @@ -320,7 +322,7 @@ }, { "cell_type": "code", - "execution_count": 76, + "execution_count": 143, "metadata": {}, "outputs": [ { @@ -362,15 +364,15 @@ }, { "cell_type": "code", - "execution_count": 77, + "execution_count": 144, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 2.82 ms, sys: 106 µs, total: 2.93 ms\n", - "Wall time: 2.04 ms\n" + "CPU times: user 2.28 ms, sys: 0 ns, total: 2.28 ms\n", + "Wall time: 1.55 ms\n" ] } ], @@ -402,12 +404,12 @@ }, { "cell_type": "code", - "execution_count": 78, + "execution_count": 145, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] @@ -462,7 +464,7 @@ }, { "cell_type": "code", - "execution_count": 79, + "execution_count": 146, "metadata": {}, "outputs": [], "source": [ @@ -512,7 +514,7 @@ "def road_curve(state,track):\n", " \n", " #given vehicle pos find lookahead waypoints\n", - " nn_idx=get_nn_idx(state,track)\n", + " nn_idx=get_nn_idx(state,track)-1\n", " LOOKAHED=6\n", " lk_wp=track[:,nn_idx:nn_idx+LOOKAHED]\n", "\n", @@ -529,8 +531,13 @@ "def f(x,coeff):\n", " return round(coeff[0]*x**3 + coeff[1]*x**2 + coeff[2]*x**1 + coeff[3]*x**0,6)\n", "\n", + "# def f(x,coeff):\n", + "# return round(coeff[0]*x**5+coeff[1]*x**4+coeff[2]*x**3+coeff[3]*x**2+coeff[4]*x**1+coeff[5]*x**0,6)\n", + "\n", "def df(x,coeff):\n", - " return round(3*coeff[0]*x**2 + 2*coeff[1]*x**1 + coeff[2]*x**0,6)" + " return round(3*coeff[0]*x**2 + 2*coeff[1]*x**1 + coeff[2]*x**0,6)\n", + "# def df(x,coeff):\n", + "# return round(5*coeff[0]*x**4 + 4*coeff[1]*x**3 +3*coeff[2]*x**2 + 2*coeff[3]*x**1 + coeff[4]*x**0,6)" ] }, { @@ -620,7 +627,7 @@ }, { "cell_type": "code", - "execution_count": 80, + "execution_count": 147, "metadata": {}, "outputs": [ { @@ -677,7 +684,7 @@ }, { "cell_type": "code", - "execution_count": 81, + "execution_count": 148, "metadata": {}, "outputs": [ { @@ -701,18 +708,18 @@ " warm start: on, polish: on, time_limit: off\n", "\n", "iter objective pri res dua res rho time\n", - " 1 0.0000e+00 1.02e+00 1.02e+02 1.00e-01 2.71e-04s\n", - " 125 1.6631e+03 2.07e-05 3.42e-04 7.12e+01 1.13e-03s\n", + " 1 0.0000e+00 1.02e+00 1.02e+02 1.00e-01 2.28e-04s\n", + " 125 1.6631e+03 2.07e-05 3.42e-04 7.12e+01 9.98e-04s\n", "\n", "status: solved\n", "solution polish: unsuccessful\n", "number of iterations: 125\n", "optimal objective: 1663.1222\n", - "run time: 1.34e-03s\n", + "run time: 1.17e-03s\n", "optimal rho estimate: 7.91e+01\n", "\n", - "CPU times: user 296 ms, sys: 112 µs, total: 296 ms\n", - "Wall time: 290 ms\n" + "CPU times: user 196 ms, sys: 90 µs, total: 196 ms\n", + "Wall time: 194 ms\n" ] } ], @@ -757,7 +764,7 @@ }, { "cell_type": "code", - "execution_count": 82, + "execution_count": 149, "metadata": {}, "outputs": [ { @@ -823,7 +830,7 @@ }, { "cell_type": "code", - "execution_count": 83, + "execution_count": 160, "metadata": {}, "outputs": [ { @@ -837,17 +844,18 @@ "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.1777s Max: 0.2694s Min: 0.1558s\n" + "CVXPY Optimization Time: Avrg: 0.1705s Max: 0.2163s Min: 0.1577s\n" ] } ], "source": [ - "# track = compute_path_from_wp([0,3,4,6,10],\n", - "# [0,0,2,4,3])\n", + "track = compute_path_from_wp([0,3,4,6,10,13],\n", + " [0,0,2,4,3,3],0.25)\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])\n", - "sim_duration = 100 #time steps\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", + "\n", + "sim_duration = 50 #time steps\n", "opt_time=[]\n", "\n", "x_sim = np.zeros((N,sim_duration))\n", @@ -894,13 +902,13 @@ " \n", " for t in range(T):\n", "\n", - " cost += 30*cp.sum_squares(x[2,t]-np.arctan(df(x_bar[0,t],K))) # psi\n", - " #cost += 50*cp.sum_squares(x[2,t]-np.arctan2(df(x_bar[0,t],K),x_bar[0,t])) # psi\n", + " #cost += 30*cp.sum_squares(x[2,t]-np.arctan(df(x_bar[0,t],K))) # psi\n", + " cost += 50*cp.sum_squares(x[2,t]-np.arctan2(df(x_bar[0,t],K),x_bar[0,t])) # psi\n", " cost += 20*cp.sum_squares(f(x_bar[0,t],K)-x[1,t]) # cte\n", "\n", " # Actuation rate of change\n", " if t < (T - 1):\n", - " cost += cp.quad_form(u[:, t + 1] - u[:, t], 1*np.eye(M))\n", + " cost += cp.quad_form(u[:, t + 1] - u[:, t], 100*np.eye(M))\n", " \n", " # Actuation effort\n", " cost += cp.quad_form( u[:, t],1*np.eye(M))\n", @@ -942,12 +950,12 @@ }, { "cell_type": "code", - "execution_count": 84, + "execution_count": 161, "metadata": {}, "outputs": [ { "data": { - "image/png": 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"text/plain": [ "
" ] diff --git a/notebook/equations.ipynb b/notebook/equations.ipynb index 0b970f3..95048ed 100644 --- a/notebook/equations.ipynb +++ b/notebook/equations.ipynb @@ -9,7 +9,7 @@ }, { "cell_type": "code", - "execution_count": 1, + "execution_count": 6, "metadata": {}, "outputs": [ { @@ -26,7 +26,7 @@ "[0, 0, 0, v*cos(psi), 0]])" ] }, - "execution_count": 1, + "execution_count": 6, "metadata": {}, "output_type": "execute_result" } @@ -81,22 +81,22 @@ }, { "cell_type": "code", - "execution_count": 1, + "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "text/latex": [ - "$\\displaystyle \\left[\\begin{matrix}0 & 0 & - v \\sin{\\left(\\theta \\right)}\\\\0 & 0 & v \\cos{\\left(\\theta \\right)}\\\\0 & 0 & 0\\end{matrix}\\right]$" + "$\\displaystyle \\left[\\begin{matrix}1 & 0 & - dt v \\sin{\\left(\\theta \\right)}\\\\0 & 1 & dt v \\cos{\\left(\\theta \\right)}\\\\0 & 0 & 1\\end{matrix}\\right]$" ], "text/plain": [ "Matrix([\n", - "[0, 0, -v*sin(theta)],\n", - "[0, 0, v*cos(theta)],\n", - "[0, 0, 0]])" + "[1, 0, -dt*v*sin(theta)],\n", + "[0, 1, dt*v*cos(theta)],\n", + "[0, 0, 1]])" ] }, - "execution_count": 1, + "execution_count": 9, "metadata": {}, "output_type": "execute_result" } @@ -104,36 +104,36 @@ "source": [ "import sympy as sp\n", "\n", - "x,y,theta,psi,cte,v,w = sp.symbols(\"x y theta psi cte v w\")\n", + "x,y,theta,psi,cte,v,w ,dt= sp.symbols(\"x y theta psi cte v w dt\")\n", "\n", - "gs = sp.Matrix([[ sp.cos(theta)*v],\n", - " [ sp.sin(theta)*v],\n", - " [w]])\n", + "gs = sp.Matrix([[x + sp.cos(theta)*v*dt],\n", + " [y+ sp.sin(theta)*v*dt],\n", + " [theta + w*dt]])\n", "\n", "state = sp.Matrix([x,y,theta])\n", "\n", "#A\n", - "gs.jacobian(state)" + "gs.jacobian(state)#.subs({x:0,y:0,theta:0})" ] }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "text/latex": [ - "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta \\right)} & 0\\\\\\sin{\\left(\\theta \\right)} & 0\\\\0 & 1\\end{matrix}\\right]$" + "$\\displaystyle \\left[\\begin{matrix}dt \\cos{\\left(\\theta \\right)} & 0\\\\dt \\sin{\\left(\\theta \\right)} & 0\\\\0 & dt\\end{matrix}\\right]$" ], "text/plain": [ "Matrix([\n", - "[cos(theta), 0],\n", - "[sin(theta), 0],\n", - "[ 0, 1]])" + "[dt*cos(theta), 0],\n", + "[dt*sin(theta), 0],\n", + "[ 0, dt]])" ] }, - "execution_count": 2, + "execution_count": 10, "metadata": {}, "output_type": "execute_result" } @@ -142,7 +142,7 @@ "state = sp.Matrix([v,w])\n", "\n", "#B\n", - "gs.jacobian(state)" + "gs.jacobian(state)#.subs({x:0,y:0,theta:0})" ] }, {