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@kietdlam
Created December 12, 2015 22:41
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{
"cells": [
{
"cell_type": "code",
"execution_count": 37,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"text/plain": [
"convert_to_continuous (generic function with 1 method)"
]
},
"execution_count": 37,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"# include(\"../KinematicMPC.jl\")\n",
"include(\"../Utilities.jl\")\n",
"include(\"../GraphPlanner.jl\")"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {
"collapsed": false,
"tags": [
"worksheet-0"
]
},
"outputs": [],
"source": [
"using Gadfly\n",
"using DataStructures\n",
"using Compose\n",
"using Ipopt\n",
"using JuMP\n",
"using Reactive\n",
"using Interact\n",
"using Base.Collections"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {
"collapsed": false,
"tags": [
"worksheet-0"
]
},
"outputs": [],
"source": [
"set_default_plot_size(10*1inch, 5*1inch)"
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {
"collapsed": false,
"tags": [
"worksheet-0"
]
},
"outputs": [
{
"data": {
"text/plain": [
"(anonymous function)"
]
},
"execution_count": 9,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"second = xs -> xs[2]"
]
},
{
"cell_type": "markdown",
"metadata": {
"collapsed": true,
"tags": [
"worksheet-0"
]
},
"source": [
"### A* Path Planner"
]
},
{
"cell_type": "markdown",
"metadata": {
"collapsed": true,
"tags": [
"worksheet-0"
]
},
"source": [
"### Case 1: A* for stationary obstacles"
]
},
{
"cell_type": "code",
"execution_count": 132,
"metadata": {
"collapsed": false,
"tags": [
"worksheet-0"
]
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"start point: PlainPoint(11,8)\n",
"goal point: PlainPoint(20,22)\n"
]
}
],
"source": [
"srand(9474153)\n",
"square_dimension = 15.0 # Discretization\n",
"width = 25\n",
"height = 25\n",
"width_half = round(width/2)\n",
"height_half = round(height/2)\n",
"goal_point = PlainPoint(rand(width_half:width), rand(height_half:height))\n",
"start_point = PlainPoint(rand(1:width_half), rand(1:height_half))\n",
"\n",
"println(\"start point: \", start_point)\n",
"println(\"goal point: \", goal_point)\n",
"\n",
"obstacles = Obstacle[]\n",
"n_obstacles = 15\n",
"ob_width = 3\n",
"ob_height = 3\n",
"\n",
"n_horizon = 8\n",
"\n",
"for n in 1:n_obstacles\n",
" start_x = rand(1:width - ob_width)\n",
" start_y = rand(1:height - ob_height)\n",
" end_x = rand(start_x+1:start_x+rand(2:ob_width))\n",
" end_y = rand(start_y+1:start_y+rand(2:ob_height))\n",
" ob = Obstacle(start_x, end_x, start_y, end_y)\n",
" \n",
" # checks to see if the obstacle is in the start or end position\n",
" if is_legal(width, height, [ob], goal_point) && is_legal(width, height, [ob], start_point)\n",
" push!(obstacles, ob)\n",
" end\n",
"end\n",
"\n",
"node_eval = node -> simple_node_eval(goal_point, node)\n",
"empty_q = PriorityQueue()\n",
"start_node = construct_node(nothing, nothing, start_point, 0)\n",
"\n",
"successor_f = s -> point_successor(obstacles, width, height, s)\n",
"\n",
"res = universal_search(goal_function(goal_point), successor_f, node_eval, start_node, empty_q,\n",
" Set{PlainPoint}())\n",
"\n",
"if size(res, 1) == 0\n",
" println(\"NO RESULT!!!\")\n",
"end\n",
"\n",
"\n",
"# prepend!(res, [start_point])\n",
"\n",
"res_cont = convert_to_continuous(square_dimension, res)\n",
"\n",
"# mm = zeros(width, height)\n",
"# mm[goal_point.x, goal_point.y] = 320\n",
"# pp_to_points!(mm, res)\n",
"# mm[start_point.x, start_point.y] = 3\n",
"\n",
"mm_obstacles = zeros(width, height)\n",
"mm_obstacles[start_point.x, start_point.y] = 3\n",
"mm_obstacles[goal_point.x, goal_point.y] = 1\n",
"\n",
"for obstacle in obstacles\n",
" for j in obstacle.start_y:obstacle.end_y\n",
" for i in obstacle.start_x:obstacle.end_x\n",
" if i > 0 && i < width && j > 0 && j < height\n",
"# mm[i, j] = 2\n",
" mm_obstacles[i, j] = 2\n",
"# else\n",
"# println(\"Obstacle out of bounds!!!: \", obstacle)\n",
" end\n",
" end\n",
" end\n",
"end"
]
},
{
"cell_type": "code",
"execution_count": 133,
"metadata": {
"collapsed": false,
"scrolled": false,
"tags": [
"worksheet-0"
]
},
"outputs": [
{
"data": {
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",
"text/plain": [
"Image{PNGBackend}(IOBuffer(data=Uint8[...], readable=true, writable=true, seekable=true, append=false, size=35405, maxsize=Inf, ptr=35406, mark=-1),CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),CairoContext(Ptr{Void} @0x0000000000000000,CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),Ptr{Void} @0x00007f8c8b778380),576.0,576.0,AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),0.0),AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),1.0),[],LineCapButt(),LineJoinMiter(),true,[],[],[Property{FillPrimitive}=>nothing],true,false,nothing,true,true,3.7795275590551185,nothing,nothing)"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"draw(PNG(6*1inch, 6*1inch), spy(mm_obstacles, Coord.Cartesian(ymin=1,ymax=width,xmin=1,xmax=height)))"
]
},
{
"cell_type": "code",
"execution_count": 134,
"metadata": {
"collapsed": false,
"tags": [
"worksheet-0"
]
},
"outputs": [
{
"data": {
"image/png": 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"text/plain": [
"Image{PNGBackend}(IOBuffer(data=Uint8[...], readable=true, writable=true, seekable=true, append=false, size=38725, maxsize=Inf, ptr=38726, mark=-1),CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),CairoContext(Ptr{Void} @0x0000000000000000,CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),Ptr{Void} @0x00007f8c8b7782d0),576.0,576.0,AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),0.0),AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),1.0),[],LineCapButt(),LineJoinMiter(),true,[],[],[Property{FillPrimitive}=>nothing],true,false,nothing,true,true,3.7795275590551185,nothing,nothing)"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"theme = Theme(key_position=:none)\n",
"\n",
"p1 = render(spy(mm_obstacles, Coord.Cartesian(ymin=1,ymax=width,xmin=1,xmax=height),\n",
"Guide.xlabel(\"x\"), Guide.ylabel(\"y\"), theme))\n",
"\n",
"layers = Vector{Layer}[]\n",
"\n",
"for ((y, x), (y_2, x_2)) in zip(res_cont, res_cont[2:end])\n",
" push!(layers, layer(x=[x/square_dimension, x_2/square_dimension], y=[y/square_dimension, y_2/square_dimension], \n",
" Geom.point))\n",
"end\n",
"\n",
"\n",
"p2 = render(plot(layers..., \n",
" Coord.Cartesian(ymin=1,ymax=width,xmin=1,xmax=height),\n",
"Guide.xlabel(\"x\"), Guide.ylabel(\"y\"), theme))\n",
"draw(PNG(6*1inch, 6*1inch), compose(context(), (context(), p1), (context(), p2)))\n",
"# draw(SVGJS(10*1inch, 5*1inch), compose(context(), (context(), p1), (context(), p2)))"
]
},
{
"cell_type": "code",
"execution_count": 135,
"metadata": {
"collapsed": false,
"tags": [
"worksheet-0"
]
},
"outputs": [
{
"data": {
"text/plain": [
"([133.157,138.814,142.5,148.157,153.814,157.5,163.157,168.814,172.5,178.157 … 337.5,337.5,337.5,337.5,337.5,337.5,337.5,337.5,337.5,337.5],[166.843,161.186,157.5,151.843,146.186,142.5,136.843,131.186,127.5,121.843 … 292.5,292.5,292.5,292.5,292.5,292.5,292.5,292.5,292.5,292.5])"
]
},
"execution_count": 135,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"td = 8.0 # 200ms\n",
"n_horizon = 350\n",
"v_desired = 1.0\n",
"\n",
"x_p, y_p = path_d2c(map(second, res_cont), map(first, res_cont), v_desired, n_horizon, td, \n",
"start_point.y*square_dimension + square_dimension/2, start_point.x*square_dimension + square_dimension/2) # Flipped!"
]
},
{
"cell_type": "code",
"execution_count": 136,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
"Image{PNGBackend}(IOBuffer(data=Uint8[...], readable=true, writable=true, seekable=true, append=false, size=43709, maxsize=Inf, ptr=43710, mark=-1),CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),CairoContext(Ptr{Void} @0x0000000000000000,CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),Ptr{Void} @0x00007f8c8b778220),576.0,576.0,AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),0.0),AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),1.0),[],LineCapButt(),LineJoinMiter(),true,[],[],[Property{FillPrimitive}=>nothing],true,false,nothing,true,true,3.7795275590551185,nothing,nothing)"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"theme = Theme(key_position=:none)\n",
"\n",
"p1 = render(spy(mm_obstacles, Coord.Cartesian(ymin=1,ymax=width,xmin=1,xmax=height),\n",
"Guide.xlabel(\"x\"), Guide.ylabel(\"y\"), theme))\n",
"\n",
"layers = Vector{Layer}[]\n",
"\n",
"x_scaled = x_p/square_dimension\n",
"y_scaled = y_p/square_dimension\n",
"for i = 1:length(x_scaled)-1\n",
" push!(layers, layer(x=[x_scaled[i], x_scaled[i+1]], y=[y_scaled[i], y_scaled[i+1]], Geom.point))\n",
"end\n",
"\n",
"\n",
"p2 = render(plot(layers..., \n",
" Coord.Cartesian(ymin=1,ymax=width,xmin=1,xmax=height),\n",
"Guide.xlabel(\"x\"), Guide.ylabel(\"y\"), theme))\n",
"\n",
"draw(PNG(6*1inch, 6*1inch), compose(context(), (context(), p1), (context(), p2)))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Case 2: Multi-Zumys A* Planner"
]
},
{
"cell_type": "code",
"execution_count": 137,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"start point: PlainPoint(16,13)\n",
"goal point: PlainPoint(35,34)\n"
]
}
],
"source": [
"srand(83157731811998)\n",
"square_dimension = 2.0 # Discretization (cm)\n",
"width = 50\n",
"height = 50\n",
"width_half = round(width/2)\n",
"height_half = round(height/2)\n",
"goal_point = PlainPoint(rand(width_half:width), rand(height_half:height))\n",
"start_point = PlainPoint(rand(1:width_half), rand(1:height_half))\n",
"\n",
"println(\"start point: \", start_point)\n",
"println(\"goal point: \", goal_point)\n",
"\n",
"obstacles = Obstacle[]\n",
"n_obstacles = 5\n",
"ob_width = 3\n",
"ob_height = 3\n",
"\n",
"n_horizon = 8\n",
"\n",
"for n in 1:n_obstacles\n",
" start_x = rand(1:width - ob_width)\n",
" start_y = rand(1:height - ob_height)\n",
" end_x = start_x+ob_width\n",
" end_y = start_y+ob_height\n",
" ob = Obstacle(start_x, end_x, start_y, end_y)\n",
" \n",
" # checks to see if the obstacle is in the start or end position\n",
" if is_legal(width, height, [ob], goal_point) && is_legal(width, height, [ob], start_point)\n",
" push!(obstacles, ob)\n",
" end\n",
"end\n",
"\n",
"node_eval = node -> simple_node_eval(goal_point, node)\n",
"empty_q = PriorityQueue()\n",
"start_node = construct_node(nothing, nothing, start_point, 0)\n",
"\n",
"successor_f = s -> point_successor(obstacles, width, height, s)\n",
"\n",
"res = universal_search(goal_function(goal_point), successor_f, node_eval, start_node, empty_q,\n",
" Set{PlainPoint}())\n",
"\n",
"if size(res, 1) == 0\n",
" println(\"NO RESULT!!!\")\n",
"end\n",
"\n",
"\n",
"# prepend!(res, [start_point])\n",
"\n",
"res_cont = convert_to_continuous(square_dimension, res)\n",
"\n",
"# mm = zeros(width, height)\n",
"# mm[goal_point.x, goal_point.y] = 320\n",
"# pp_to_points!(mm, res)\n",
"# mm[start_point.x, start_point.y] = 3\n",
"\n",
"mm_obstacles = zeros(width, height)\n",
"mm_obstacles[start_point.x, start_point.y] = 3\n",
"mm_obstacles[goal_point.x, goal_point.y] = 1\n",
"\n",
"for obstacle in obstacles\n",
" for j in obstacle.start_y:obstacle.end_y\n",
" for i in obstacle.start_x:obstacle.end_x\n",
" if i > 0 && i < width && j > 0 && j < height\n",
"# mm[i, j] = 2\n",
" mm_obstacles[i, j] = 2\n",
"# else\n",
"# println(\"Obstacle out of bounds!!!: \", obstacle)\n",
" end\n",
" end\n",
" end\n",
"end"
]
},
{
"cell_type": "code",
"execution_count": 138,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
"Image{PNGBackend}(IOBuffer(data=Uint8[...], readable=true, writable=true, seekable=true, append=false, size=39393, maxsize=Inf, ptr=39394, mark=-1),CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),CairoContext(Ptr{Void} @0x0000000000000000,CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),Ptr{Void} @0x00007f8c8b778170),576.0,576.0,AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),0.0),AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),1.0),[],LineCapButt(),LineJoinMiter(),true,[],[],[Property{FillPrimitive}=>nothing],true,false,nothing,true,true,3.7795275590551185,nothing,nothing)"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"draw(PNG(6*1inch, 6*1inch), spy(mm_obstacles, Coord.Cartesian(ymin=1,ymax=width,xmin=1,xmax=height)))"
]
},
{
"cell_type": "code",
"execution_count": 139,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
"Image{PNGBackend}(IOBuffer(data=Uint8[...], readable=true, writable=true, seekable=true, append=false, size=38889, maxsize=Inf, ptr=38890, mark=-1),CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),CairoContext(Ptr{Void} @0x0000000000000000,CairoSurface(Ptr{Void} @0x0000000000000000,576.0,576.0,#undef),Ptr{Void} @0x00007f8c8b7780c0),576.0,576.0,AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),0.0),AlphaColorValue{RGB{Float64},Float64}(RGB{Float64}(0.0,0.0,0.0),1.0),[],LineCapButt(),LineJoinMiter(),true,[],[],[Property{FillPrimitive}=>nothing],true,false,nothing,true,true,3.7795275590551185,nothing,nothing)"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"theme = Theme(key_position=:none)\n",
"\n",
"p1 = render(spy(mm_obstacles, Coord.Cartesian(ymin=1,ymax=width,xmin=1,xmax=height),\n",
"Guide.xlabel(\"x\"), Guide.ylabel(\"y\"), theme))\n",
"\n",
"layers = Vector{Layer}[]\n",
"\n",
"for ((y, x), (y_2, x_2)) in zip(res_cont, res_cont[2:end])\n",
" push!(layers, layer(x=[x/square_dimension, x_2/square_dimension], y=[y/square_dimension, y_2/square_dimension], \n",
" Geom.point))\n",
"end\n",
"\n",
"\n",
"p2 = render(plot(layers..., \n",
" Coord.Cartesian(ymin=1,ymax=width,xmin=1,xmax=height),\n",
"Guide.xlabel(\"x\"), Guide.ylabel(\"y\"), theme))\n",
"draw(PNG(6*1inch, 6*1inch), compose(context(), (context(), p1), (context(), p2)))\n",
"# draw(SVGJS(10*1inch, 5*1inch), compose(context(), (context(), p1), (context(), p2)))"
]
},
{
"cell_type": "code",
"execution_count": 140,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"text/plain": [
"PlainPoint(35,34)"
]
},
"execution_count": 140,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"zumy_width = 3 # In terms of squares\n",
"zumy_height = 3\n",
"\n",
"\n",
"goal_point"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Julia 0.3.10",
"language": "julia",
"name": "julia-0.3"
},
"language_info": {
"file_extension": ".jl",
"mimetype": "application/julia",
"name": "julia",
"version": "0.3.10"
},
"name": "graph_controller.ipynb"
},
"nbformat": 4,
"nbformat_minor": 0
}
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