diff --git a/notebook/MPC_cte_cvxpy.ipynb b/notebook/MPC_cte_cvxpy.ipynb index 4b11d23..a52d5bf 100644 --- a/notebook/MPC_cte_cvxpy.ipynb +++ b/notebook/MPC_cte_cvxpy.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 73, + "execution_count": 29, "metadata": {}, "outputs": [], "source": [ @@ -28,8 +28,6 @@ "* $x$ coordinate of the robot\n", "* $y$ coordinate of the robot\n", "* $\\theta$ heading of the robot\n", - "* $\\psi$ heading error = $\\psi = \\theta_{ref} - \\theta$\n", - "* $cte$ crosstrack error = lateral distance of the robot from the track w.r.t robot frame, cte is a function of the track and x\n", "\n", "The inputs of the model are:\n", "\n", @@ -41,98 +39,70 @@ "* $\\dot{x} = v\\cos{\\theta}$ \n", "* $\\dot{y} = v\\sin{\\theta}$\n", "* $\\dot{\\theta} = w$\n", - "* $\\dot{\\psi} = -w$\n", - "* $\\dot{cte} = v\\sin{\\psi}$\n", "\n", - "The **Continuous** State Space Model is\n", + "Discretize with forward Euler Integration for time step dt:\n", "\n", - "$ {\\dot{x}} = Ax + Bu $\n", - "\n", - "with:\n", - "\n", - "$ A =\n", - "\\quad\n", - "\\begin{bmatrix}\n", - "\\frac{\\partial f(x,u)}{\\partial x} & \\frac{\\partial f(x,u)}{\\partial y} & \\frac{\\partial f(x,u)}{\\partial \\theta} & \\frac{\\partial f(x,u)}{\\partial \\psi} & \\frac{\\partial f(x,u)}{\\partial cte} \\\\\n", - "\\end{bmatrix}\n", - "\\quad\n", - "=\n", - "\\quad\n", - "\\begin{bmatrix}\n", - "0 & 0 & -vsin(\\theta) & 0 & 0 \\\\\n", - "0 & 0 & vcos(\\theta) & 0 & 0 \\\\\n", - "0 & 0 & 0 & 0 & 0 \\\\\n", - "0 & 0 & 0 & 0 & 0 \\\\\n", - "0 & 0 & 0 & vcos(\\psi) & 0 \n", - "\\end{bmatrix}\n", - "\\quad $\n", - "\n", - "\n", - "$ B = \\quad\n", - "\\begin{bmatrix}\n", - "\\frac{\\partial f(x,u)}{\\partial v} & \\frac{\\partial f(x,u)}{\\partial w} \\\\\n", - "\\end{bmatrix}\n", - "\\quad\n", - "=\n", - "\\quad\n", - "\\begin{bmatrix}\n", - "\\cos{\\theta_t} & 0 \\\\\n", - "\\sin{\\theta_t} & 0 \\\\\n", - "0 & 1 \\\\\n", - "0 & -1 \\\\\n", - "\\sin{(\\psi_t)} & 0 \n", - "\\end{bmatrix}\n", - "\\quad $\n", - "\n", - "discretize with forward Euler Integration for time step dt:\n", + "${x_{t+1}} = x_{t} + f(x,u)*dt$\n", "\n", "* ${x_{t+1}} = x_{t} + v_t\\cos{\\theta}*dt$\n", "* ${y_{t+1}} = y_{t} + v_t\\sin{\\theta}*dt$\n", "* ${\\theta_{t+1}} = \\theta_{t} + w_t*dt$\n", - "* ${\\psi_{t+1}} = \\psi_{t} - w_t*dt$\n", - "* ${cte_{t+1}} = cte_{t} + v_t\\sin{\\psi}*dt$\n", "\n", - "The **Discrete** State Space Model is then:\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", - "${x_{t+1}} = Ax_t + Bu_t $\n", + "$ f(x,u) \\approx f(\\bar{x},\\bar{u}) + \\frac{\\partial f(x,u)}{\\partial x}(x-\\bar{x}) + \\frac{\\partial f(x,u)}{\\partial u}(u-\\bar{u})$\n", "\n", - "with:\n", + "For the State Space model this can be rewritten as:\n", + "\n", + "$ f(\\bar{x},\\bar{u}) + A(x-\\bar{x}) + B(u-\\bar{u})$\n", + "\n", + "Where:\n", "\n", "$\n", - "A = \\quad\n", + "A =\n", + "\\quad\n", "\\begin{bmatrix}\n", - "1 & 0 & -v\\sin{\\theta}dt & 0 & 0 \\\\\n", - "0 & 1 & v\\cos{\\theta}dt & 0 & 0 \\\\\n", - "0 & 0 & 1 & 0 & 0 \\\\\n", - "0 & 0 & 0 & 1 & 0 \\\\\n", - "0 & 0 & 0 & vcos{(\\psi)}dt & 1 \n", + "\\frac{\\partial f(x,u)}{\\partial x} & \\frac{\\partial f(x,u)}{\\partial y} & \\frac{\\partial f(x,u)}{\\partial \\theta} \\\\\n", + "\\end{bmatrix}\n", + "\\quad\n", + "=\n", + "\\quad\n", + "\\begin{bmatrix}\n", + "0 & 0 & -v\\sin{\\theta} \\\\\n", + "0 & 0 & v\\cos{\\theta} \\\\\n", + "0 & 0 & 0\\\\\n", "\\end{bmatrix}\n", "\\quad\n", "$\n", "\n", + "and\n", + "\n", "$\n", - "B = \\quad\n", + "B = \n", + "\\quad\n", + "\\begin{bmatrix}\n", + "\\frac{\\partial f(x,u)}{\\partial v} & \\frac{\\partial f(x,u)}{\\partial w} \\\\\n", + "\\end{bmatrix}\n", + "\\quad\n", + "= \n", + "\\quad\n", "\\begin{bmatrix}\n", "\\cos{\\theta_t}dt & 0 \\\\\n", "\\sin{\\theta_t}dt & 0 \\\\\n", - "0 & dt \\\\\n", - "0 & -dt \\\\\n", - "\\sin{\\psi_t}dt & 0 \n", + "0 & dt\n", "\\end{bmatrix}\n", "\\quad\n", "$\n", "\n", - "This State Space Model is **non-linear** (A,B are time changing), to linearize it the **Taylor's series expansion** is used around $\\bar{x}$ and $\\bar{u}$:\n", + "are the *Jacobians* of the function \n", "\n", - "$ \\dot{x} = f(x,u) \\approx f(\\bar{x},\\bar{u}) + A(x-\\bar{x}) + B(u-\\bar{u})$\n", - "\n", - "So:\n", + "So the discretized model is given by:\n", "\n", "$ x_{t+1} = x_t + (f(\\bar{x},\\bar{u}) + A(x_t-\\bar{x}) + B(u_t-\\bar{u}) )dt $\n", "\n", "$ x_{t+1} = (I+dtA)x_t + dtBu_t +dt(f(\\bar{x},\\bar{u}) - A\\bar{x} - B\\bar{u}))$\n", "\n", - "The Discrete linearized kinematics model is\n", + "The LTI-equivalent kinematics model is:\n", "\n", "$ x_{t+1} = A'x_t + B' u_t + C' $\n", "\n", @@ -142,7 +112,13 @@ "\n", "$ B' = dtB $\n", "\n", - "$ C' = dt(f(\\bar{x},\\bar{u}) - A\\bar{x} - B\\bar{u}) $" + "$ C' = dt(f(\\bar{x},\\bar{u}) - A\\bar{x} - B\\bar{u}) $\n", + "\n", + "**Errors** are:\n", + "* $\\psi$ heading error = $\\psi = \\theta_{ref} - \\theta$\n", + "* $cte$ crosstrack error = lateral distance of the robot from the track w.r.t robot frame, cte is a function of the track and x\n", + "\n", + "described by:" ] }, { @@ -199,7 +175,7 @@ }, { "cell_type": "code", - "execution_count": 74, + "execution_count": 30, "metadata": {}, "outputs": [], "source": [ @@ -213,7 +189,7 @@ }, { "cell_type": "code", - "execution_count": 75, + "execution_count": 31, "metadata": {}, "outputs": [], "source": [ @@ -254,11 +230,12 @@ }, { "cell_type": "code", - "execution_count": 76, + "execution_count": 32, "metadata": {}, "outputs": [], "source": [ "# Define process model\n", + "# This uses the continuous model \n", "def kinematics_model(x,t,u):\n", " \"\"\"\n", " \"\"\"\n", @@ -305,15 +282,15 @@ }, { "cell_type": "code", - "execution_count": 77, + "execution_count": 33, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 5.97 ms, sys: 113 µs, total: 6.08 ms\n", - "Wall time: 4.96 ms\n" + "CPU times: user 4.29 ms, sys: 15 µs, total: 4.3 ms\n", + "Wall time: 3.97 ms\n" ] } ], @@ -341,7 +318,7 @@ }, { "cell_type": "code", - "execution_count": 78, + "execution_count": 34, "metadata": {}, "outputs": [ { @@ -392,15 +369,15 @@ }, { "cell_type": "code", - "execution_count": 79, + "execution_count": 35, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 2.2 ms, sys: 132 µs, total: 2.33 ms\n", - "Wall time: 1.53 ms\n" + "CPU times: user 2.32 ms, sys: 131 µs, total: 2.45 ms\n", + "Wall time: 2.03 ms\n" ] } ], @@ -432,7 +409,7 @@ }, { "cell_type": "code", - "execution_count": 80, + "execution_count": 36, "metadata": {}, "outputs": [ { @@ -492,7 +469,7 @@ }, { "cell_type": "code", - "execution_count": 81, + "execution_count": 37, "metadata": {}, "outputs": [], "source": [ @@ -657,7 +634,7 @@ }, { "cell_type": "code", - "execution_count": 82, + "execution_count": 38, "metadata": {}, "outputs": [ { @@ -714,7 +691,7 @@ }, { "cell_type": "code", - "execution_count": 83, + "execution_count": 39, "metadata": {}, "outputs": [ { @@ -738,18 +715,18 @@ " 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 2.26e-04s\n", - " 125 1.6631e+03 2.07e-05 3.42e-04 7.12e+01 1.00e-03s\n", + " 1 0.0000e+00 1.02e+00 1.02e+02 1.00e-01 2.42e-04s\n", + " 125 1.6631e+03 2.07e-05 3.42e-04 7.12e+01 1.02e-03s\n", "\n", "status: solved\n", "solution polish: unsuccessful\n", "number of iterations: 125\n", "optimal objective: 1663.1222\n", - "run time: 1.17e-03s\n", + "run time: 2.10e-03s\n", "optimal rho estimate: 7.91e+01\n", "\n", - "CPU times: user 234 ms, sys: 8.58 ms, total: 242 ms\n", - "Wall time: 229 ms\n" + "CPU times: user 259 ms, sys: 4.14 ms, total: 263 ms\n", + "Wall time: 258 ms\n" ] } ], @@ -794,7 +771,7 @@ }, { "cell_type": "code", - "execution_count": 84, + "execution_count": 40, "metadata": {}, "outputs": [ { @@ -860,7 +837,7 @@ }, { "cell_type": "code", - "execution_count": 99, + "execution_count": 45, "metadata": {}, "outputs": [ { @@ -874,22 +851,24 @@ "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.1807s Max: 0.2490s Min: 0.1668s\n" + "CVXPY Optimization Time: Avrg: 0.1713s Max: 0.2654s Min: 0.1564s\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],\n", + "# [0,0,2,4,3])\n", "\n", - "sim_duration = 60 #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])\n", + "sim_duration = 100 #time steps\n", "opt_time=[]\n", "\n", "x_sim = np.zeros((N,sim_duration))\n", "u_sim = np.zeros((M,sim_duration-1))\n", "\n", - "MAX_SPEED = 1.5\n", - "MIN_SPEED = 0.5\n", + "MAX_SPEED = 1.25\n", + "MIN_SPEED = 0.75\n", "MAX_STEER_SPEED = 1.57\n", "\n", "# Starting Condition\n", @@ -910,18 +889,15 @@ " \n", " K=road_curve(x_sim[:,sim_time],track)\n", " \n", - " # dynamics starting state\n", + " # dynamics starting state w.r.t vehicle frame\n", " x_bar=np.zeros((N,T+1))\n", " \n", - " #x_bar[:,0]=x_sim[:,sim_time]\n", + " #prediction for linearization of costrains\n", " for t in range (1,T+1):\n", " xt=x_bar[:,t-1].reshape(N,1)\n", " ut=u_bar[:,t-1].reshape(M,1)\n", - "\n", " A,B,C=get_linear_model(xt,ut)\n", - "\n", " xt_plus_one = np.squeeze(np.dot(A,xt)+np.dot(B,ut)+C)\n", - " \n", " x_bar[:,t]= xt_plus_one\n", " \n", " #CVXPY Linear MPC problem statement\n", @@ -932,10 +908,8 @@ " \n", " for t in range(T):\n", "\n", - " # Tracking\n", - " #cost += 10*cp.sum_squares( x[3, t]) # psi\n", - " #cost += 50*cp.sum_squares( x[4, t]) # cte\n", - " cost += 10*cp.sum_squares(x[2,t]-np.arctan(df(x_bar[0,t],K))) # 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", @@ -945,7 +919,7 @@ " # Actuation effort\n", " cost += cp.quad_form( u[:, t],1*np.eye(M))\n", " \n", - " # Constrains\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", @@ -982,12 +956,12 @@ }, { "cell_type": "code", - "execution_count": 100, + "execution_count": 46, "metadata": {}, "outputs": [ { "data": { - "image/png": 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"text/plain": [ "
" ] diff --git a/notebook/equations.ipynb b/notebook/equations.ipynb index 89a970e..0b970f3 100644 --- a/notebook/equations.ipynb +++ b/notebook/equations.ipynb @@ -9,7 +9,7 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 1, "metadata": {}, "outputs": [ { @@ -26,7 +26,7 @@ "[0, 0, 0, v*cos(psi), 0]])" ] }, - "execution_count": 9, + "execution_count": 1, "metadata": {}, "output_type": "execute_result" } @@ -50,7 +50,7 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 2, "metadata": {}, "outputs": [ { @@ -67,7 +67,7 @@ "[ sin(psi), 0]])" ] }, - "execution_count": 10, + "execution_count": 2, "metadata": {}, "output_type": "execute_result" } @@ -81,10 +81,69 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, - "outputs": [], - "source": [] + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\left[\\begin{matrix}0 & 0 & - v \\sin{\\left(\\theta \\right)}\\\\0 & 0 & v \\cos{\\left(\\theta \\right)}\\\\0 & 0 & 0\\end{matrix}\\right]$" + ], + "text/plain": [ + "Matrix([\n", + "[0, 0, -v*sin(theta)],\n", + "[0, 0, v*cos(theta)],\n", + "[0, 0, 0]])" + ] + }, + "execution_count": 1, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "import sympy as sp\n", + "\n", + "x,y,theta,psi,cte,v,w = sp.symbols(\"x y theta psi cte v w\")\n", + "\n", + "gs = sp.Matrix([[ sp.cos(theta)*v],\n", + " [ sp.sin(theta)*v],\n", + " [w]])\n", + "\n", + "state = sp.Matrix([x,y,theta])\n", + "\n", + "#A\n", + "gs.jacobian(state)" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta \\right)} & 0\\\\\\sin{\\left(\\theta \\right)} & 0\\\\0 & 1\\end{matrix}\\right]$" + ], + "text/plain": [ + "Matrix([\n", + "[cos(theta), 0],\n", + "[sin(theta), 0],\n", + "[ 0, 1]])" + ] + }, + "execution_count": 2, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "state = sp.Matrix([v,w])\n", + "\n", + "#B\n", + "gs.jacobian(state)" + ] }, { "cell_type": "markdown", @@ -95,7 +154,7 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -148,7 +207,7 @@ }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 11, "metadata": {}, "outputs": [ { @@ -191,7 +250,7 @@ }, { "cell_type": "code", - "execution_count": 13, + "execution_count": 12, "metadata": {}, "outputs": [ { @@ -201,7 +260,7 @@ " -0.58083993])" ] }, - "execution_count": 13, + "execution_count": 12, "metadata": {}, "output_type": "execute_result" } @@ -212,7 +271,7 @@ }, { "cell_type": "code", - "execution_count": 20, + "execution_count": 13, "metadata": {}, "outputs": [ { @@ -224,7 +283,7 @@ " 4.2088127135203335)" ] }, - "execution_count": 20, + "execution_count": 13, "metadata": {}, "output_type": "execute_result" }, @@ -303,15 +362,15 @@ }, { "cell_type": "code", - "execution_count": 15, + "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "0.03551042807053904\n", - "12.271049217491628\n" + "3.377314001132912\n", + "22.461271020363764\n" ] } ],