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ROSBuzz_MISTLab
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added yaw control and states pursuit, agreggation and formation (still to tweak)

This commit is contained in:
dave 2018-03-03 19:41:54 -05:00
parent fd7414f382
commit 8e6319e3a5
6 changed files with 101 additions and 22 deletions
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73
buzz_scripts/include/act/states.bzz
View File

@ -79,11 +79,11 @@ function goto_gps(transf) {
log("Sorry this is too far.")
else if(math.vec2.length(m_navigation)>GOTO_MAXVEL) { # limit velocity
m_navigation = math.vec2.scale(m_navigation, GOTO_MAXVEL/math.vec2.length(m_navigation))
goto_abs(m_navigation.x, m_navigation.y, rc_goto.altitude - pose.position.altitude)
goto_abs(m_navigation.x, m_navigation.y, rc_goto.altitude - pose.position.altitude, 0.0)
} else if(math.vec2.length(m_navigation) < GOTODIST_TOL and math.vec2.angle(m_navigation) < GOTOANG_TOL) # reached destination
transf()
else
goto_abs(m_navigation.x, m_navigation.y, rc_goto.altitude - pose.position.altitude)
goto_abs(m_navigation.x, m_navigation.y, rc_goto.altitude - pose.position.altitude, 0.0)
}
function follow() {
@ -94,13 +94,80 @@ function follow() {
force=(0.05)*(tab.range)^4
attractor=math.vec2.add(attractor, math.vec2.newp(force, tab.bearing))
})
goto_abs(attractor.x, attractor.y, 0.0)
goto_abs(attractor.x, attractor.y, 0.0, 0.0)
} else {
log("No target in local table!")
BVMSTATE = "IDLE"
}
}
# converge to centroid
function aggregate() {
BVMSTATE="AGGREGATE"
centroid = neighbors.reduce(function(rid, data, centroid) {
centroid = math.vec2.add(centroid, math.vec2.newp(data.distance, data.azimuth))
return centroid
}, {.x=0, .y=0})
if(neighbors.count() > 0)
math.vec2.scale(centroid, 1.0 / neighbors.count())
if(math.vec2.length(centroid)>GOTO_MAXVEL)
centroid = math.vec2.scale(centroid, GOTO_MAXVEL/math.vec2.length(centroid))
goto_abs(centroid.x, centroid.y, 0.0, 0.0)
}
# follow one another
rotang = 0.0
function pursuit() {
BVMSTATE="PURSUIT"
insight = 0
leader = math.vec2.newp(0.0, 0.0)
var cmdbin = math.vec2.newp(0.0, 0.0)
neighbors.foreach(function(rid, data) {
if(data.distance < 11.0 and data.azimuth < 3.2 and data.azimuth > 2.8) {
insight = 1
leader = math.vec2.newp(data.distance, data.azimuth)
}
})
if(insight == 1) {
log("Leader in sight !")
#cmdbin = math.vec2.newp(lj_magnitude(math.vec2.length(leader), 3.0, 0.01), math.vec2.angle(leader))
cmdbin = math.vec2.newp(2.0, math.vec2.angle(leader))
} else {
rotang = rotang + math.pi/60
cmdbin = math.vec2.newp(2.0, rotang)
}
goto_abs(cmdbin.x, cmdbin.y, 0.0, rotang)
}
# Lennard-Jones interaction magnitude
TARGET = 8.0
EPSILON = 0.000001
function lj_magnitude(dist, target, epsilon) {
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
}
# Neighbor data to LJ interaction vector
function lj_vector(rid, data) {
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
}
# Accumulator of neighbor LJ interactions
function lj_sum(rid, data, accum) {
return math.vec2.add(data, accum)
}
# Calculates and actuates the flocking interaction
function formation() {
BVMSTATE="FORMATION"
# Calculate accumulator
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
if(neighbors.count() > 0)
math.vec2.scale(accum, 1.0 / neighbors.count())
if(math.vec2.length(accum)>GOTO_MAXVEL*15)
accum = math.vec2.scale(accum, 15*GOTO_MAXVEL/math.vec2.length(accum))
goto_abs(accum.x, accum.y, 0.0, 0.0)
}
function rc_cmd_listen() {
if(flight.rc_cmd==22) {
log("cmd 22")

4
buzz_scripts/include/plan/rrtstar.bzz
View File

@ -53,7 +53,7 @@ function navigate() {
populateGrid(m_pos)
if(check_path(Path, path_it, m_pos, 0)) {
# stop
goto_abs(0.0, 0.0, rc_goto.altitude - pose.position.altitude)
goto_abs(0.0, 0.0, rc_goto.altitude - pose.position.altitude, 0.0)
Path = nil
if(V_TYPE == 0)
cur_goal = vec_from_gps(rc_goto.latitude, rc_goto.longitude,0)
@ -62,7 +62,7 @@ function navigate() {
pathPlanner(cur_goal, m_pos)
} else {
cur_path_pt = math.vec2.scale(cur_path_pt, GOTO_MAXVEL/math.vec2.length(cur_path_pt))
goto_abs(cur_path_pt.x, cur_path_pt.y, rc_goto.altitude - pose.position.altitude)
goto_abs(cur_path_pt.x, cur_path_pt.y, rc_goto.altitude - pose.position.altitude, 0.0)
}
} else
path_it = path_it + 1

2
buzz_scripts/include/taskallocate/graphformGPS.bzz
View File

@ -694,7 +694,7 @@ function DoLock(){
m_navigation=motion_vector()
}
#move
goto_abs(m_navigation.x, m_navigation.y, 0.0)
goto_abs(m_navigation.x, m_navigation.y, 0.0, 0.0)
BroadcastGraph()
}
#

10
buzz_scripts/main.bzz
View File

@ -7,7 +7,7 @@ include "taskallocate/graphformGPS.bzz"
include "vstigenv.bzz"
#State launched after takeoff
AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
AUTO_LAUNCH_STATE = "PURSUIT"
#####
# Vehicule type:
@ -26,7 +26,7 @@ function init() {
init_stig()
init_swarm()
TARGET_ALTITUDE = 25.0 # m
TARGET_ALTITUDE = 10 + id*2.0 # m
# start the swarm command listener
nei_cmd_listen()
@ -54,6 +54,12 @@ function step() {
statef=launch
else if(BVMSTATE=="IDLE")
statef=idle
else if(BVMSTATE=="AGGREGATE")
statef=aggregate
else if(BVMSTATE=="FORMATION")
statef=formation
else if(BVMSTATE=="PURSUIT")
statef=pursuit
else if(BVMSTATE=="TASK_ALLOCATE") { # or bidding ?
startGraph()
} else if(BVMSTATE=="GRAPH_FREE") {

18
src/buzzuav_closures.cpp
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@ -13,7 +13,7 @@ namespace buzzuav_closures
{
// TODO: Minimize the required global variables and put them in the header
// static const rosbzz_node::roscontroller* roscontroller_ptr;
static double goto_pos[3];
static double goto_pos[4];
static double rc_goto_pos[3];
static float rc_gimbal[4];
static float batt[3];
@ -207,22 +207,26 @@ int buzz_exportmap(buzzvm_t vm)
int buzzuav_moveto(buzzvm_t vm)
/*
/ Buzz closure to move following a 2D vector
/ Buzz closure to move following a 3D vector + Yaw
/----------------------------------------*/
{
buzzvm_lnum_assert(vm, 3);
buzzvm_lnum_assert(vm, 4);
buzzvm_lload(vm, 1); // dx
buzzvm_lload(vm, 2); // dy
buzzvm_lload(vm, 3); //* dheight
buzzvm_lload(vm, 3); // dheight
buzzvm_lload(vm, 4); // dyaw
buzzvm_type_assert(vm, 4, BUZZTYPE_FLOAT);
buzzvm_type_assert(vm, 3, BUZZTYPE_FLOAT);
buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT);
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
float dh = buzzvm_stack_at(vm, 1)->f.value;
float dy = buzzvm_stack_at(vm, 2)->f.value;
float dx = buzzvm_stack_at(vm, 3)->f.value;
float dyaw = buzzvm_stack_at(vm, 1)->f.value;
float dh = buzzvm_stack_at(vm, 2)->f.value;
float dy = buzzvm_stack_at(vm, 3)->f.value;
float dx = buzzvm_stack_at(vm, 4)->f.value;
goto_pos[0] = dx;
goto_pos[1] = dy;
goto_pos[2] = height + dh;
goto_pos[3] = dyaw;
// DEBUG
// ROS_WARN("[%i] Buzz requested Move To: x: %.7f , y: %.7f, z: %.7f", (int)buzz_utility::get_robotid(), goto_pos[0],
// goto_pos[1], goto_pos[2]);

14
src/roscontroller.cpp
View File

@ -711,7 +711,7 @@ script
case buzzuav_closures::COMMAND_MOVETO:
goto_pos = buzzuav_closures::getgoto();
roscontroller::SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], 0);
roscontroller::SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], goto_pos[3]);
break;
case buzzuav_closures::COMMAND_GIMBAL:
@ -935,15 +935,17 @@ void roscontroller::SetLocalPosition(float x, float y, float z, float yaw)
moveMsg.header.frame_id = 1;
// DEBUG
// ROS_INFO("Lp: %.3f, %.3f - Del: %.3f, %.3f", cur_pos.x, cur_pos.y, x, y);
// ROS_INFO("Lp: %.3f, %.3f - Del: %.3f, %.3f, %.3f", cur_pos.x, cur_pos.y, x, y, yaw);
moveMsg.pose.position.x = cur_pos.x + y;
moveMsg.pose.position.y = cur_pos.y + x;
moveMsg.pose.position.z = z;
moveMsg.pose.orientation.x = 0;
moveMsg.pose.orientation.y = 0;
moveMsg.pose.orientation.z = 0;
moveMsg.pose.orientation.w = 1;
tf::Quaternion q;
q.setRPY(0.0, 0.0, yaw);
moveMsg.pose.orientation.x = q[0];
moveMsg.pose.orientation.y = q[1];
moveMsg.pose.orientation.z = q[2];
moveMsg.pose.orientation.w = q[3];
// To prevent drifting from stable position, uncomment
// if(fabs(x)>0.005 || fabs(y)>0.005) {