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wayPoint2.py
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import brickpi
import time
import sys
import random
import math
import numpy as np
# interface=brickpi.Interface()
# interface.initialize()
#
# motors = [1,2]
#
# interface.motorEnable(motors[0])
# interface.motorEnable(motors[1])
#
# leftParam = interface.MotorAngleControllerParameters()
# rightParam = interface.MotorAngleControllerParameters()
#
# leftParam.maxRotationAcceleration = 6.0
# leftParam.maxRotationSpeed = 12.0
# leftParam.feedForwardGain = 255/20.0
# leftParam.minPWM = 18.0
# leftParam.pidParameters.minOutput = -255
# leftParam.pidParameters.maxOutput = 255
# leftParam.pidParameters.k_p = 462.0
# leftParam.pidParameters.k_i = 870.0
# leftParam.pidParameters.K_d = 25.0
#
# rightParam.maxRotationAcceleration = 6.0
# rightParam.maxRotationSpeed = 12.0
# rightParam.feedForwardGain = 255/20.0
# rightParam.minPWM = 18.0
# rightParam.pidParameters.minOutput = -255
# rightParam.pidParameters.maxOutput = 255
# rightParam.pidParameters.k_p = 462.0
# rightParam.pidParameters.k_i = 800.0
# rightParam.pidParameters.K_d = 23.0
#
# interface.setMotorAngleControllerParameters(motors[0],leftParam)
# interface.setMotorAngleControllerParameters(motors[1],rightParam)
#
# port = 0 # port which ultrasoic sensor is plugged in to
#
# interface.sensorEnable(port, brickpi.SensorType.SENSOR_ULTRASONIC)
#initX = 0
#initY = 0
#initA = 0
initX = 84
initY = 30
initA = 0
rotation_angle = 2.12
drive_angle = 0.28
drive_angle_10 = 2.92
numberOfParticles = 100
global interface
def set_interface(input):
interface = input
# walls = [((0,0), (0,168)), ((0,168), (84, 168)), ((84, 168), (84, 126)), ((84, 126), (84, 210)), ((84, 210), (168, 210)), ((168, 210), (168, 84)), ((168, 84), (210, 84)), ((210, 84), (210, 0)), ((210, 0), (0, 0))]
#
# for wall in walls:
# print "drawLine:" + str(( 50 + wall[0][0] * 3,50 + wall[0][1] * 3, 50 +wall[1][0] * 3, 50 +wall[1][1] * 3))
######## navigate to waypoint #########
robotMeanX, robotMeanY, robotMeanA = 84, 30, 0 #initial position
#robotMeanX, robotMeanY, robotMeanA = 0, 0, 0 #initial position
particles = [(initX, initY, initA) for i in range(numberOfParticles)]
def set_starting_point(x, y, a):
global initX, initY, initA, robotMeanA, robotMeanX, robotMeanY, particles
initX = x
initY = y
initA = a
particles = [(initX, initY, initA) for i in range(numberOfParticles)]
robotMeanX = x
robotMeanY = y
robotMeanA = a
def navigateToWayPointInput(interface):
global robotMeanX, robotMeanY, robotMeanA
wayPointX, wayPointY = 0, 0
while True:
wayPointX = float(input("Enter wayPointX in metres: ")) * 100
wayPointY = float(input("Enter wayPointY in metres: ")) * 100
xDist = wayPointX - robotMeanX #- wayPointX
yDist = wayPointY - robotMeanY #- wayPointY
angle = math.atan2(yDist, xDist) - robotMeanA
#print("particles before rotate:" + str(particles))
rotate(angle, interface)
#print("particles after rotate:" + str(particles))
robotMeanA = sum(p[2] for p in particles) / numberOfParticles
move(math.sqrt(math.pow(xDist, 2) + math.pow(yDist, 2)), interface)
# print "drawParticles:" + str(particles)
line = (robotMeanX, robotMeanY, wayPointX, wayPointY) # (x0, y0, x1, y1)
# print "drawLine:" + str(line)
# update mean x, mean y and mean angle
robotMeanX = sum(p[0] for p in particles) / numberOfParticles
robotMeanY = sum(p[1] for p in particles) / numberOfParticles
robotMeanA = sum(p[2] for p in particles) / numberOfParticles
print 'mean x:' + str(robotMeanX) + 'mean y:' + str(robotMeanY) + 'mean angle:' + str(robotMeanA/math.pi*180)
def readSonarSensor(interface):
readings = []
for i in range(0,5):
readings.append(interface.getSensorValue(port)[0])
return np.median(readings)
def navigateToWayPoint(wayPointX, wayPointY, interface):
global robotMeanX, robotMeanY, robotMeanA, particles
print ' BEFORE NAVIGATE mean x:' + str(robotMeanX) + 'mean y:' + str(robotMeanY) + 'mean angle:' + str(robotMeanA/math.pi*180)
xDist = wayPointX - robotMeanX #- wayPointX
yDist = wayPointY - robotMeanY #- wayPointY
angle = math.atan2(yDist, xDist) - robotMeanA
rotate(angle, interface)
robotMeanA = sum(p[2] for p in particles) / numberOfParticles
move(math.sqrt(xDist ** 2 + yDist ** 2), interface)
line = (50 + robotMeanX * 3, 50 + robotMeanY * 3, 50 + wayPointX * 3, 50 + wayPointY * 3) # (x0, y0, x1, y1)
# print "drawLine:" + str(line)
# update mean x, mean y and mean angle
robotMeanX = sum(p[0] for p in particles) / numberOfParticles
robotMeanY = sum(p[1] for p in particles) / numberOfParticles
robotMeanA = sum(p[2] for p in particles) / numberOfParticles
print 'mean x:' + str(robotMeanX) + 'mean y:' + str(robotMeanY) + 'mean angle:' + str(robotMeanA/math.pi*180)
# return new angle after rotation and straight movement (angles in radian)
eSigma = 1.7
fSigma = 0.0003
gSigma = 0.0007
def getNewThetaRotate1(point, angle):
return point[2] + angle + random.gauss(0, gSigma)
def getNewThetaStraight1(point):
return point[2] + random.gauss(0, fSigma)
# return new x, y coordinate after moving
def getNewX1(point, distance):
global robotMeanA
return point[0] + (distance + random.gauss(0, eSigma)) * math.cos(robotMeanA)
def getNewY1(point, distance):
global robotMeanA
return point[1] + (distance + random.gauss(0, eSigma)) * math.sin(robotMeanA)
# rotate robot and update particles
def rotate(angle, interface):
global particles
if angle > math.pi:
angle = angle - 2 * math.pi
if angle < -math.pi:
angle = angle + 2 * math.pi
#print("angle:"+str(angle/math.pi*180))
rot_angle = angle*rotation_angle
interface.increaseMotorAngleReferences(motors, [rot_angle, -rot_angle])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
# if motorAngles :
# print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
particles = [(particles[i][0], particles[i][1], getNewThetaRotate1(particles[i], angle)) for i in range(numberOfParticles)]
# print "drawParticles:" + str([(50 + particle[0] * 3 ,50 + particle[1] * 3, 50 + particle[2] * 3) for particle in particles])
time.sleep(0.1)
particle_weights = [calculate_likelihood(particles[i][0], particles[i][1], particles[i][2], readSonarSensor(interface)) for i in range(numberOfParticles)]
normaliseResample(particle_weights)
# print "drawParticles:" + str([(50 + particle[0] * 3 ,50 + particle[1] * 3, 50 + particle[2] * 3) for particle in particles])
time.sleep(0.1)
# move robot and update particles
def move(distance, interface):
global particles
move_angle = distance * drive_angle
interface.increaseMotorAngleReferences(motors, [move_angle, move_angle])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
# if motorAngles :
# print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
particles = [(getNewX1(particles[i], distance), getNewY1(particles[i], distance), getNewThetaStraight1(particles[i])) for i in range(numberOfParticles)]
# print "drawParticles:" + str([(50 + particle[0] * 3 ,50 + particle[1] * 3, 50 + particle[2] * 3) for particle in particles])
time.sleep(0.1)
particle_weights = [calculate_likelihood(particles[i][0], particles[i][1], particles[i][2], readSonarSensor(interface)) for i in range(numberOfParticles)]
normaliseResample(particle_weights)
# print "drawParticles:" + str([(50 + particle[0] * 3 ,50 + particle[1] * 3, 50 + particle[2] * 3) for particle in particles])
time.sleep(0.1)
def calculate_likelihood(x, y, theta, z):
global walls
print "x: " + str(x)
print "y: " + str(y)
closestWall = walls[0];
ax = closestWall[0][0]
ay = closestWall[0][1]
bx = closestWall[1][0]
by = closestWall[1][1]
distFromClosestWall = math.fabs(((by-ay)*(ax-x) - (bx-ax)*(ay-y)) / ((by-ay)*math.cos(theta) - (bx-ax)*math.sin(theta)))
for wall in walls:
ax = wall[0][0]
ay = wall[0][1]
bx = wall[1][0]
by = wall[1][1]
distFromWall = math.fabs(((by-ay)*(ax-x) - (bx-ax)*(ay-y)) / ((by-ay)*math.cos(theta) - (bx-ax)*math.sin(theta)))
interPtX = x + math.cos(theta) * distFromWall
interPtY = y + math.sin(theta) * distFromWall
beta = math.acos((math.cos(theta) * (ay - by) + math.sin(theta) * (bx - ax))/ math.sqrt((ay - by) ** 2 + (bx - ax)**2))
if math.fabs(beta) < 0.610865:
if interPtX < max(ax, bx) and interPtX > min(ax, bx) and interPtY < max(ay, by) and interPtY > min(ay, by):
if distFromWall < distFromClosestWall:
distFromClosestWall = distFromWall
closestWall = wall
# print "distance from the closest wall: " + str(distFromClosestWall)
# print "z: " + str(z)
# print "return value: " + str(math.exp(-math.pow((z - distFromClosestWall), 2)/(2 * 1.5)))
return math.exp(-math.pow((z - distFromClosestWall), 2)/(2 * 1.5))
def normaliseResample(particle_weights):
global particles
# Normalisation
# Add up all the weights in the unnormalised set, and then divide the weight of each by this total
sum_set = sum(particle_weights)
if sum_set > 0 :
normalised_weights = [i / sum_set for i in particle_weights]
cum_weight_array = []
for i, w in enumerate(normalised_weights):
if i == 0:
cum_weight_array.append(normalised_weights[i])
else:
cum_weight_array.append(normalised_weights[i] + cum_weight_array[i-1])
new_particle_set = []
for i in range(len(particles)):
new_particle_set.append(particles[choose_particle(cum_weight_array)])
particles = new_particle_set[:]
def choose_particle(cum_weight_array):
# Get random number between 0 and 1
rand_num = random.uniform(0, 1)
for i, val in enumerate(cum_weight_array):
if rand_num < val :
return i
#starting point: (84, 30)
# navigateToWayPoint(104, 30, interface)
# navigateToWayPoint(124, 30, interface)
# navigateToWayPoint(144, 30, interface)
# navigateToWayPoint(164, 30, interface)
# navigateToWayPoint(180, 30, interface)
# navigateToWayPoint(180, 50, interface)
# navigateToWayPoint(180, 54, interface)
# navigateToWayPoint(160, 54, interface)
# navigateToWayPoint(140, 54, interface)
# navigateToWayPoint(138, 54, interface)
# navigateToWayPoint(138, 74, interface)
# navigateToWayPoint(138, 94, interface)
# navigateToWayPoint(138, 114, interface)
# navigateToWayPoint(138, 134, interface)
# navigateToWayPoint(138, 154, interface)
# navigateToWayPoint(138, 168, interface)
# navigateToWayPoint(118, 168, interface)
# navigateToWayPoint(114, 168, interface)
# navigateToWayPoint(114, 148, interface)
# navigateToWayPoint(114, 128, interface)
# navigateToWayPoint(114, 108, interface)
# navigateToWayPoint(114, 88, interface)
# navigateToWayPoint(114, 84, interface)
# navigateToWayPoint(94, 84, interface)
# navigateToWayPoint(84, 84, interface)
# navigateToWayPoint(84, 64, interface)
# navigateToWayPoint(84, 44, interface)
# navigateToWayPoint(84, 30, interface)
#navigateToWayPointInput(interface)
# interface.terminate()