Raceday 2017 - Fully Autonomous

offline/controller/.gitignore

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+*.mat
+*.jpg
+*.png
+.DS_Store
+*.pyc
+

offline/controller/controller.m

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+function [trajectory] = controller()
+
+    addpath('../localizer/latlonutm/Codes/matlab');
+    global wheel_base
+    global velocity
+    global steering_vel
+    global dt
+
+    save_data = true;
+    wheel_base = 1.13;
+    utm_zone = 17;
+    first_heading = deg2rad(250);
+    lat_long = [40.441670, -79.9416362];
+    dt = 0.001; % 1000Hz
+    m = 50; % 20Hz
+    velocity = 8; % m/s, 17.9mph, forward velocity
+    steering_vel = deg2rad(40); % 40deg/s, reaction speed to control cmds
+
+    [x, y, ~] = ll2utm(lat_long(1), lat_long(2));
+
+    X = [x;  % X, m, UTM coors
+         y;  % Y, m, UTM coors
+         velocity;  % d_Yb, body velocity
+         first_heading; % heading, rad, world frame
+         0];  % d_heading, rad/s
+
+    load('./waypoints.mat');
+    desired_traj = processWaypoints(logs);
+    % time = linspace(0, 240, size(trajectory,2));
+    time = 0:dt:240;
+    u = 0; % commanded steering angle
+    steering = u; % steering angle
+    trajectory = [X; lat_long(1); lat_long(2); steering];
+
+    for i = 1:size(time, 2)
+        t = time(i);
+        A = model(X, steering);
+        X = A*X;
+        steering = updateSteering(steering, u);
+
+        X(4) = clampAngle(X(4));
+        X(5) = clampAngle(X(5));
+
+        if(mod(i, m) == 0)
+            u = control(desired_traj, X);
+        end
+
+        % trajectory = [trajectory, X];
+        snapshot = summarize(X, utm_zone, steering);
+        trajectory = [trajectory, snapshot];
+    end
+
+    if save_data
+        save('controller_v2.mat', 'trajectory');
+    end
+end
+
+function [desired] = processWaypoints(lat_long)
+    [x, y, zone] = ll2utm(lat_long);
+    desired = [x y];
+end
+
+function snapshot = summarize(x, utm_zone, steeringAngle)
+    [lat, lon] = utm2ll(x(1), x(2), utm_zone);
+    snapshot = [x; x(1); x(2); steeringAngle];
+end
+
+function a = clampAngle(a)
+    while (a < -pi)
+        a = a + 2*pi;
+    end
+    while (a > pi)
+        a = a - 2*pi;
+    end
+end
+
+function b = updateSteering(b, u)
+    global steering_vel
+    global dt
+
+    if(b < u)
+        b = b + steering_vel*dt;
+    end
+    if(b > u)
+        b = b - steering_vel*dt;
+    end
+end
+
+function a = clampSteeringAngle(a)
+    if(a < -deg2rad(10))
+        a = -deg2rad(10);
+    end
+    if(a > deg2rad(10))
+        a = deg2rad(10);
+    end
+end
+
+function [A] = model(x, steering)
+    global wheel_base
+    global dt
+
+    A = [1, 0, dt*cos(x(4)), 0, 0;
+         0, 1, dt*sin(x(4)), 0, 0;
+         0, 0, 1, 0, 0;
+         0, 0, 0, 1, dt;
+         0, 0, tan(steering)/wheel_base, 0, 0];
+end
+
+function [u] = control(desired_traj, X) 
+    pos = X(1:2)';
+    b = repmat(pos, size(desired_traj, 1), 1);
+    delta = 15*15;
+    possible = find(sum((desired_traj-b).^2, 2) < delta);
+    if isempty(possible)
+      u = 0;
+    else 
+      target = desired_traj(possible(end), :);
+      deltaPath = target - pos;
+      u = atan2(deltaPath(2), deltaPath(1))-X(4);
+    end
+    u = clampSteeringAngle(clampAngle(u));
+end
+
+
+

offline/controller/controller_analysis.m

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+% graph results
+
+clear;
+close all;
+
+addpath('../localizer/latlonutm/Codes/matlab');
+addpath('../localizer/altmany-export_fig');
+
+file = 'controller_v2.mat';
+load(file, 'trajectory');
+save_plot = false;
+show_maps = true;
+
+load('./waypoints_course_v2.mat');
+[x, y, zone] = ll2utm(logs);
+desired = [x y];
+desired = desired(112:(end-50), :);
+
+k = 1000;
+if show_maps
+    wmline(trajectory(6,1:k:end), trajectory(7,1:k:end), 'Color', 'r')
+end
+
+heading = trajectory(4,1:k:end);
+figure();
+hold on;
+plot(trajectory(1,1:k:end), trajectory(2,1:k:end))
+quiver(trajectory(1,1:k:end), trajectory(2,1:k:end), cos(heading), sin(heading))
+plot(desired(:,1), desired(:,2), 'g')
+hold off;
+title(['Map ', file]);
+
+headingd = rad2deg(heading);
+figure();
+hold on;
+plot(1:length(headingd), headingd)
+title(['Heading ', file]);
+
+figure();
+p = k/20;
+plot(1:p:size(trajectory,2), trajectory(8,1:p:end))
+title('Control input');
+
+% plot on google maps
+if show_maps
+    xy = [trajectory(6,1:k:end); trajectory(7,1:k:end)];
+    fprintf(1, '%5.20f, %5.20f\n', xy);
+end

offline/controller/controller_pure.m

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+function [trajectory] = controller_pure()
+% https://www.ri.cmu.edu/pub_files/2009/2/Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf
+% section 2.2
+
+    addpath('../localizer/latlonutm/Codes/matlab');
+    global wheel_base
+    global velocity
+    global steering_vel
+    global dt
+
+    save_data = true;
+    wheel_base = 1.13;
+    utm_zone = 17;
+    first_heading = deg2rad(250);
+    lat_long = [40.442867, -79.9427395]; % [40.441670, -79.9416362];
+    dt = 0.001; % 1000Hz
+    m = 50; % 20Hz
+    velocity = 8; % m/s, 17.9mph, forward velocity
+    steering_vel = deg2rad(40); % 40deg/s, reaction speed to control cmds
+                                % full range in 0.5s
+
+    [x, y, ~] = ll2utm(lat_long(1), lat_long(2));
+
+    X = [x;  % X, m, UTM coors
+         y;  % Y, m, UTM coors
+         velocity;  % d_Yb, body velocity
+         first_heading; % heading, rad, world frame
+         0];  % d_heading, rad/s
+
+    load('./waypoints_tri.mat');
+    desired_traj = processWaypoints(logs);
+    % time = linspace(0, 240, size(trajectory,2));
+    time = 0:dt:60; % 240;
+    u = 0; % commanded steering angle
+    steering = u; % steering angle
+    trajectory = [X; lat_long(1); lat_long(2); steering];
+
+    for i = 1:size(time, 2)
+        t = time(i);
+        A = model(X, steering);
+        X = A*X;
+        steering = updateSteering(steering, u);
+
+        X(4) = clampAngle(X(4));
+        X(5) = clampAngle(X(5));
+
+        if(mod(i, m) == 0)
+            u = control(desired_traj, X);
+        end
+
+        % trajectory = [trajectory, X];
+        snapshot = summarize(X, utm_zone, steering);
+        trajectory = [trajectory, snapshot];
+    end
+
+    if save_data
+        save('controller_tri_v1.mat', 'trajectory');
+    end
+end
+
+function [desired] = processWaypoints(lat_long)
+    [x, y, zone] = ll2utm(lat_long);
+    desired = [x y];
+end
+
+function snapshot = summarize(x, utm_zone, steeringAngle)
+    [lat, lon] = utm2ll(x(1), x(2), utm_zone);
+    snapshot = [x; x(1); x(2); steeringAngle];
+end
+
+function a = clampAngle(a)
+    while (a < -pi)
+        a = a + 2*pi;
+    end
+    while (a > pi)
+        a = a - 2*pi;
+    end
+end
+
+function b = updateSteering(b, u)
+    global steering_vel
+    global dt
+
+    if(b < u)
+        b = b + steering_vel*dt;
+    end
+    if(b > u)
+        b = b - steering_vel*dt;
+    end
+end
+
+function a = clampSteeringAngle(a)
+    if(a < -deg2rad(10))
+        a = -deg2rad(10);
+    end
+    if(a > deg2rad(10))
+        a = deg2rad(10);
+    end
+end
+
+function [A] = model(x, steering)
+    global wheel_base
+    global dt
+
+    A = [1, 0, dt*cos(x(4)), 0, 0;
+         0, 1, dt*sin(x(4)), 0, 0;
+         0, 0, 1, 0, 0;
+         0, 0, 0, 1, dt;
+         0, 0, tan(steering)/wheel_base, 0, 0];
+end
+
+function [u] = control(desired_traj, X) 
+    global wheel_base
+
+    pos = X(1:2)';
+    pos_b = repmat(pos, size(desired_traj, 1), 1);
+    delta = 15;
+    cutoff = 100;
+    delta = delta * delta;
+
+    distances = sum((desired_traj - pos_b).^2, 2);
+    [~, closest_idx] = min(distances);
+    last_idx = min([length(distances), closest_idx + cutoff]); 
+    possible = find(distances(1:last_idx) < delta);
+    if isempty(possible)
+      u = 0;
+    else 
+      target = desired_traj(possible(end), :);
+      deltaPath = target - pos;
+
+      k = 0.8;
+      a = atan2(deltaPath(2), deltaPath(1))-X(4);
+      u = atan2(2*wheel_base*sin(a), k*X(3));
+    end
+    u = clampSteeringAngle(clampAngle(u));
+end
+