from casadi import * import time # look at: https://github.com/casadi/casadi/blob/master/docs/examples/python/vdp_indirect_multiple_shooting.py # TODO for roborally # implement essential movements: forward, backward, turn left, turn right on grid-based level class OpenLoopSolver: def __init__(self, N=20, T=4.0): self.T = T self.N = N self.opti_x0 = None self.opti_lam_g0 = None self.use_warmstart = True def setup(self): x = SX.sym('x') y = SX.sym('y') theta = SX.sym('theta') state = vertcat(x, y, theta) r = 0.03 R = 0.05 d = 0.02 #omega_max = 13.32 omega_max = 10.0 omegar = SX.sym('omegar') omegal = SX.sym('omegal') control = vertcat(omegar, omegal) # model equation f1 = (r / 2 * cos(theta) - r * d / (2 * R) * sin(theta)) * omegar * omega_max + (r / 2 * cos(theta) + r * d / (2 * R) * sin( theta)) * omegal * omega_max f2 = (r / 2 * sin(theta) + r * d / (2 * R) * cos(theta)) * omegar * omega_max + (r / 2 * sin(theta) - r * d / (2 * R) * cos( theta)) * omegal * omega_max f3 = -(r / (2 * R) * omegar - r / (2 * R) * omegal) * omega_max xdot = vertcat(f1, f2, f3) f = Function('f', [x, y, theta, omegar, omegal], [f1, f2, f3]) print("f = {}".format(f)) # cost functional target = (-0.0, 0.0) L = (x-target[0]) ** 2 + (y-target[1]) ** 2 + 1e-2 * (omegar ** 2 + omegal ** 2) #L = (x-target[0]) ** 2 + (y-target[1]) ** 2 + 1e-2 * theta ** 2 + 1e-2 * (omegar ** 2 + omegal ** 2) # Fixed step Runge-Kutta 4 integrator M = 4 # RK4 steps per interval DT = self.T / self.N / M print("DT = {}".format(DT)) self.f = Function('f', [state, control], [xdot, L]) X0 = MX.sym('X0', 3) U = MX.sym('U', 2) X = X0 Q = 0 runge_kutta = True if runge_kutta: for j in range(M): k1, k1_q = self.f(X, U) k2, k2_q = self.f(X + DT / 2 * k1, U) k3, k3_q = self.f(X + DT / 2 * k2, U) k4, k4_q = self.f(X + DT * k3, U) X = X + DT / 6 * (k1 + 2 * k2 + 2 * k3 + k4) Q = Q + DT / 6 * (k1_q + 2 * k2_q + 2 * k3_q + k4_q) else: DT = self.T / self.N k1, k1_q = f(X, U) X = X + DT * k1 Q = Q + DT * k1_q F = Function('F', [X0, U], [X, Q], ['x0', 'p'], ['xf', 'qf']) # F_euler = Function('F_euler', [X0, U], [Xeuler, Qeuler], ['x0', 'p'], ['xf', 'qf']) Fk = F(x0=[0.2, 0.3, 0.0], p=[-1.1, 1.1]) print(Fk['xf']) print(Fk['qf']) # Start with an empty NLP w = [] w0 = [] lbw = [] ubw = [] J = 0 g = [] lbg = [] ubg = [] # Formulate the NLP # Xk = MX(x0) # for k in range(self.N): # # New NLP variable for the control # U1k = MX.sym('U1_' + str(k), 2) # # U2k = MX.sym('U2_' + str(k)) # w += [U1k] # lbw += [-0.5, -0.5] # ubw += [0.5, 0.5] # w0 += [0, 0] # # # Integrate till the end of the interval # Fk = F(x0=Xk, p=U1k) # Xk = Fk['xf'] # J = J + Fk['qf'] # # # Add inequality constraint # # g += [Xk[1]] # # lbg += [-.0] # # ubg += [inf] # # # Create an NLP solver # prob = {'f': J, 'x': vertcat(*w), 'g': vertcat(*g)} # self.solver = nlpsol('solver', 'ipopt', prob) # Solve the NLP if False: sol = self.solver(x0=w0, lbx=lbw, ubx=ubw, lbg=lbg, ubg=ubg) w_opt = sol['x'] # Plot the solution u_opt = w_opt x_opt = [self.x0] for k in range(self.N): Fk = F(x0=x_opt[-1], p=u_opt[2*k:2*k+2]) x_opt += [Fk['xf'].full()] x1_opt = [r[0] for r in x_opt] x2_opt = [r[1] for r in x_opt] x3_opt = [r[2] for r in x_opt] tgrid = [self.T/self.N*k for k in range(self.N+1)] #import matplotlib.pyplot as plt #plt.figure(2) #plt.clf() #plt.plot(tgrid, x1_opt, '--') #plt.plot(tgrid, x2_opt, '-') #plt.plot(tgrid, x3_opt, '*') #plt.step(tgrid, vertcat(DM.nan(1), u_opt), '-.') #plt.xlabel('t') #plt.legend(['x1','x2','x3','u']) #plt.grid() #plt.show() #return def solve(self, x0, target): angles_unwrapped = np.unwrap([x0[2], target[2]]) # unwrap angle to avoid jump in data x0[2] = angles_unwrapped[0] target[2] = angles_unwrapped[1] tstart = time.time() # alternative solution using multiple shooting (way faster!) self.opti = Opti() # Optimization problem # ---- decision variables --------- self.X = self.opti.variable(3,self.N+1) # state trajectory self.Q = self.opti.variable(1,self.N+1) # state trajectory self.U = self.opti.variable(2,self.N) # control trajectory (throttle) self.slack = self.opti.variable(1,1) #T = self.opti.variable() # final time # ---- objective --------- #self.opti.minimize(T) # race in minimal time # ---- dynamic constraints -------- #f = lambda x,u: vertcat(f1, f2, f3) # dx/dt = f(x,u) # ---- initial values for solver --- #self.opti.set_initial(speed, 1) #self.opti.set_initial(T, 1) x = SX.sym('x') y = SX.sym('y') theta = SX.sym('theta') state = vertcat(x, y, theta) r = 0.03 R = 0.05 d = 0.02 omega_max = 13.32 omegar = SX.sym('omegar') omegal = SX.sym('omegal') control = vertcat(omegar, omegal) # model equation f1 = (r / 2 * cos(theta) - r * d / (2 * R) * sin(theta)) * omegar * omega_max + (r / 2 * cos(theta) + r * d / ( 2 * R) * sin( theta)) * omegal * omega_max f2 = (r / 2 * sin(theta) + r * d / (2 * R) * cos(theta)) * omegar * omega_max + (r / 2 * sin(theta) - r * d / ( 2 * R) * cos( theta)) * omegal * omega_max f3 = -(r / (2 * R) * omegar - r / (2 * R) * omegal) * omega_max xdot = vertcat(f1, f2, f3) #L = 100 * (x - target[0]) ** 2 + 100 * (y - target[1]) ** 2 + 1e-1 * (theta - target[2])**2 + 1e-2 * (omegar ** 2 + omegal ** 2) L = 100 * (x - target[0]) ** 2 + 100 * (y - target[1]) ** 2 + 1e-1 * (target[2] - theta) ** 2 + 1e-2 * ( omegar ** 2 + omegal ** 2) #L = (x - target[0]) ** 2 + (y - target[1]) ** 2 + 1e-2 * (theta - target[2]) ** 2 + 1e-2 * (omegar ** 2 + omegal ** 2) self.f = Function('f', [state, control], [xdot, L]) # ---- solve NLP ------ # set numerical backend # delete constraints self.opti.subject_to() # add new constraints dt = self.T / self.N # length of a control interval for k in range(self.N): # loop over control intervals # Runge-Kutta 4 integration k1, k1_q = self.f(self.X[:, k], self.U[:, k]) k2, k2_q = self.f(self.X[:, k] + dt / 2 * k1, self.U[:, k]) k3, k3_q = self.f(self.X[:, k] + dt / 2 * k2, self.U[:, k]) k4, k4_q = self.f(self.X[:, k] + dt * k3, self.U[:, k]) x_next = self.X[:, k] + dt / 6 * (k1 + 2 * k2 + 2 * k3 + k4) q_next = self.Q[:, k] + dt / 6 * (k1_q + 2 * k2_q + 2 * k3_q + k4_q) self.opti.subject_to(self.X[:, k + 1] == x_next) # close the gaps self.opti.subject_to(self.Q[:, k + 1] == q_next) # close the gaps self.opti.minimize(self.Q[:, self.N] + 1.0e5 * self.slack**2) # ---- path constraints ----------- # limit = lambda pos: 1-sin(2*pi*pos)/2 # self.opti.subject_to(speed<=limit(pos)) # track speed limit maxcontrol = 0.9 self.opti.subject_to(self.opti.bounded(-maxcontrol, self.U, maxcontrol)) # control is limited # ---- boundary conditions -------- # self.opti.subject_to(speed[-1]==0) # .. with speed 0 self.opti.subject_to(self.Q[:, 0] == 0.0) solver = self.opti.solver("ipopt", {'print_time': False}, {"print_level": 0}) # ---- misc. constraints ---------- # self.opti.subject_to(X[1,:]>=0) # Time must be positive # self.opti.subject_to(X[2,:]<=4) # Time must be positive # self.opti.subject_to(X[2,:]>=-2) # Time must be positive posx = self.X[0, :] posy = self.X[1, :] angle = self.X[2, :] self.opti.subject_to(posx[0] == x0[0]) # start at position 0 ... self.opti.subject_to(posy[0] == x0[1]) # ... from stand-still self.opti.subject_to(angle[0] == x0[2]) # finish line at position 1 tend = time.time() #print("setting up problem took {} seconds".format(tend - tstart)) tstart = time.time() if self.use_warmstart and self.opti_x0 is not None: try: self.opti.set_initial(self.opti.lam_g, self.opti_lam_g0) self.opti.set_initial(self.opti.x, self.opti_x0) except RuntimeError: print("could not set warmstart") sol = self.opti.solve() # actual solve tend = time.time() #print("solving the problem took {} seconds".format(tend - tstart)) tstart = time.time() self.opti_x0 = sol.value(self.opti.x) self.opti_lam_g0 = sol.value(self.opti.lam_g) #u_opt_1 = map(lambda x: float(x), [u_opt[i * 2] for i in range(0, 60)]) #u_opt_2 = map(lambda x: float(x), [u_opt[i * 2 + 1] for i in range(0, 60)]) u_opt_1 = sol.value(self.U[0,:]) u_opt_2 = sol.value(self.U[1,:]) tend = time.time() #print("postprocessing took {} seconds".format(tend - tstart)) return (u_opt_1, u_opt_2, sol.value(posx), sol.value(posy)) #lam_g0 = sol.value(self.opti.lam_g) #self.opti.solve() from pylab import plot, step, figure, legend, show, spy plot(sol.value(posx),label="posx") plot(sol.value(posy),label="posy") plot(sol.value(angle),label="angle") plt.figure(3) plot(sol.value(posx), sol.value(posy)) ax = plt.gca() #circle = plt.Circle(p, r) #ax.add_artist(circle) #plot(limit(sol.value(pos)),'r--',label="speed limit") #step(range(N),sol.value(U),'k',label="throttle") legend(loc="upper left") plt.show() pass # linearization # A = zeros(states.shape[0], states.shape[0]) # for i in range(f.shape[0]): # for j in range(states.shape[0]): # A[i,j] = diff(f[i,0], states[j]) # Alin = A.subs([(theta,0), (omegar,0), (omegal,0)]) # print("A = {}".format(Alin)) # B = zeros(f.shape[0], controls.shape[0]) # for i in range(f.shape[0]): # for j in range(controls.shape[0]): # B[i,j] = diff(f[i,0], controls[j]) # print("B = {}".format(B)) # dfdtheta = diff(f, theta) #print(dfdtheta.doit()) # takeaway: linearization is not helpful, because the linearized system is not stabilizable # -> alternative: use nonlinear control method