文章目录
前言
此次拿深圳杯作为数学建模国赛的模拟测试，感觉对于国赛本身来说是没有任何帮助的（笑死）
但是在这个过程中感觉还是学到了非常多的知识，主要是强化学习和运动学建模这一块
下面就简单的分享一下吧
思路
思路就是利用DDPG算法（可以处理连续动作空间）来对羊进行强化学习训练，使得羊领悟出逃出圆形草地的方法
具体思路看代码就懂了（talk is cheap,show you code）
这是整个算法的流程图
代码
gym环境
'''
自己设置的环境类
智能体：羊
环境：羊、犬和圆形草地，犬采用最优围堵策略围堵羊，若羊在一段时间内逃出圈则胜利，这段时间内没逃出或者被犬抓到则失败；
状态空间：整个圆组成的点集，是二维的；
动作空间：羊每一步可采取的动作的集合
回报的设计：参照pendulum-v0游戏环境源码中的回报的设计方案。
'''
import gym
from gym import spaces
import numpy as np
import math
import random
from gym.envs.classic_control import rendering
sigma=10
# 将弧度转换为角度
def trans(tmp):
return 360*(tmp/(2*np.pi))
# 更新犬的状态
def change_dog_state(thetaP,thetaE,delta_theta):
new_thetaP=thetaP
clockwise = (thetaP - delta_theta + 2 * np.pi) % (2 * np.pi) # 顺时针
counterclockwise = (thetaP + delta_theta + 2 * np.pi) % (2 * np.pi) # 逆时针
if thetaE > thetaP:
if thetaE - thetaP >= np.pi:
new_thetaP = clockwise
else:
new_thetaP = counterclockwise
elif thetaE < thetaP:
if thetaP - thetaE >= np.pi:
new_thetaP = counterclockwise
else:
new_thetaP = clockwise
return new_thetaP
# 计算夹角
def cal_angel(theta1,theta2):
ans=0
if theta1 > theta2:
ans = theta1 - theta2
if ans > np.pi:
ans = 2 * np.pi - ans # （补）角
else:
ans = theta2 - theta1
if ans > np.pi:
ans = 2 * np.pi - ans
return ans
# 判断羊是否给抓住
def catch(R,theta1,theta2,theta3):
x=R*np.cos(theta1)
y=R*np.sin(theta1)
a=R*np.cos(theta2)
b=R*np.sin(theta2)
A=R*np.cos(theta3)
B=R*np.sin(theta3)
len1=math.sqrt((x-a)*(x-a)+(y-b)*(y-b))
len2=math.sqrt((x-A)*(x-A)+(y-B)*(y-B))
if len1 <= sigma and len2 <= sigma:
return True
else:
return False
class dogSheepEnv(gym.Env):
def __init__(self):
# self.dt = 0.2 # 采样时间
self.dt=0.2
# self.thetaP=np.pi/2# 狗的极坐标
self.thetaP = random.uniform(0, 2 * np.pi)# 狗1的极坐标
self.wP=np.pi/5# 狗的角速度
self.thetaP2=random.uniform(0, 2 * np.pi)# 狗1的极坐标
self.vE=32# 羊的速度
self.thetaE=np.pi/2# 羊的极坐标
self.radiusE=0# 羊的极坐标半径
self.R=100# 圆的半径
self.state=np.array([self.thetaE,self.radiusE,self.thetaP,self.thetaP2])# 环境的初始状态
self.viewer = rendering.Viewer(400, 400)# 画板
self.lambda1=0.07# reward的参数1
self.lambda2=3.1# reward的参数2
self.lambda3=3.1
self.lambda4=6.2
# 自定义动作空间，观察空间
self.action_space = spaces.Box(
# 羊的动作空间即为转动的角度，会根据当前位置进行变化
# 由于怕出现low比high还大的情况，我们的action_space就不做周期处理，用的时候取余2pi就行
low=0, high=2*np.pi, shape=(1,), dtype=np.float32
)
self.observation_space = spaces.Box(
# 状态空间为 theta_E,R_E,theta_P
low=np.array([0,0,0,0])
,high=np.array([2*np.pi,self.R,2*np.pi,2*np.pi])
,dtype=np.float32
)
'''
羊接受一个动作进行位移: 使用PG算法的choose_action
犬沿劣弧进行位移
接着判断游戏是否结束
评价这个动作的回报
'''
def step(self, action):# u为action
# print('action: ',action)
# 根据action（即θ_E'来计算新的状态）
self.state = self._get_observation(action)
reward = self._get_reward()
done = self._get_done()
if done:# 如果逃脱失败，给予惩罚
if catch(self.R,self.state[0],self.state[2],self.state[3]):
reward=reward-1000
print('be catched')
else:
reward=0
print('no be catched')
return self.state,reward,done
# 获取reward,根据action作用之后的state来计算reward
def _get_reward(self):
# thetaP=self.state[2]
# thetaP2=self.state[3]
# thetaE=self.state[0]
thetaE,thetaP,thetaP2=self.state[0],self.state[2],self.state[3]
delta_theta1=cal_angel(thetaE,thetaP)# 羊与犬1的夹角
delta_theta2=cal_angel(thetaE,thetaP2)# 羊与犬2的夹角
delta_theta3=cal_angel(thetaP,thetaP2)# 两犬之间的夹角
# a=self.state[1]
# b=self.R
# distance=math.sqrt(a*a+b*b-2*a*b*np.cos(delta_theta))
# 羊距圆周越近越好(radiusE越大越好)，羊与犬的夹角越大越好,羊离犬越远越好
# print('r1: ',self.lambda1 * abs(self.R - self.state[1]))
# print('r2: ',self.lambda2 * abs(np.pi-delta_theta1))
# print('r3: ',self.lambda3 * abs(np.pi-delta_theta2))
# print('r4: ',self.lambda4 * abs(delta_theta3))
return -(# 想要趋近于零
self.lambda1 * abs(self.R - self.state[1])# 范围 [0-2*R(200)]
+ self.lambda2 * abs(np.pi-delta_theta1) # 范围 [0-100]
+ self.lambda3 * abs(np.pi-delta_theta2) # 范围 [0-100]
+ self.lambda4 * abs(delta_theta3) # 范围 [0-100]
)
# 判断游戏是否结束
def _get_done(self):
if self.state[1]>=self.R:
return True
else:
return False
# 根据action修改环境，改变状态
def _get_observation(self,action):
# 已知现在的位置，首先计算位移后羊的极坐标
xb=self.state[1]*np.cos(self.state[0])+self.vE*self.dt*np.cos(action)
yb=self.state[1]*np.sin(self.state[0])+self.vE*self.dt*np.sin(action)
new_radiusE=math.sqrt(xb*xb+yb*yb)
# 由xb和yb进行θ转换,# 返回弧度pi
new_thetaE=math.atan2(yb,xb)
new_thetaE=(new_thetaE+2*np.pi)%(2*np.pi)
# 根据羊的action，选择狼的位移方向并位移
delta_theta=self.wP*self.dt
thetaE = self.state[0]
# 修改犬1的状态
thetaP = self.state[2]# 犬1的原状态
new_thetaP=change_dog_state(thetaP,thetaE,delta_theta)# 犬1的新状态
# 修改犬2的状态
thetaP2 = self.state[3] # 犬1的原状态
new_thetaP2 = change_dog_state(thetaP2, thetaE, delta_theta) # 犬1的新状态
# 相等的话就保持原状态
return np.array([new_thetaE,new_radiusE,new_thetaP,new_thetaP2])
# 重置羊和犬的状态
def reset(self):
thetaE=random.uniform(0, 2 * np.pi)
thetaE2=(thetaE+np.pi)%(2*np.pi)
self.state=np.array([0,0,thetaE,thetaE2],dtype=float)
return np.array(self.state)
# 画画显示犬和羊的状态
def render(self):
# 清空轨迹
# self.viewer.geoms.clear()
# 绘制大圆
ring = rendering.make_circle(radius=self.R,res=50,filled=False)
transform1 = rendering.Transform(translation=(200, 200)) # 相对偏移
ring.add_attr(transform1)# 让圆添加平移这个属性
self.viewer.add_geom(ring)
# 绘制犬1
xP,yP=self.R*np.cos(self.state[2]),self.R*np.sin(self.state[2])
ringP = rendering.make_circle(radius=2, res=50, filled=True)
ringP.set_color(0,0,1)
transform_P = rendering.Transform(translation=(200+xP, 200+yP)) # 相对偏移
ringP.add_attr(transform_P) # 让圆添加平移这个属性
self.viewer.add_geom(ringP)
# 绘制犬2
xP2, yP2 = self.R * np.cos(self.state[3]), self.R * np.sin(self.state[3])
ringP2 = rendering.make_circle(radius=2, res=50, filled=True)
ringP2.set_color(0, 0, 1)
transform_P2 = rendering.Transform(translation=(200 + xP2, 200 + yP2)) # 相对偏移
ringP2.add_attr(transform_P2) # 让圆添加平移这个属性
self.viewer.add_geom(ringP2)
# 绘制羊
xE, yE = self.state[1] * np.cos(self.state[0]), self.state[1] * np.sin(self.state[0])
ringE = rendering.make_circle(radius=2, res=50, filled=True)
ringE.set_color(1, 0, 0)
transform_E = rendering.Transform(translation=(200+xE, 200+yE)) # 相对偏移
ringE.add_attr(transform_E) # 让圆添加平移这个属性
self.viewer.add_geom(ringE)
return self.viewer.render()
# env = dogSheepEnv()
# while True:
# env.reset()
# for _ in range(2000):
# env.render()
# action=random.uniform(0,2*np.pi)
# action=np.clip(action,env.state[0]-np.pi/2,env.state[0]+np.pi/2)
# action=(action+2*np.pi)%(2*np.pi)
# state, reward, done = env.step(action) # 和环境交互
# if done:
# break
DDPG算法
import tensorflow as tf
import numpy as np
##################### 超参数 ####################
LR_A = 0.001 # learning rate for actor
LR_C = 0.001 # learning rate for critic
GAMMA = 0.9 # reward discount
TAU = 0.01 # soft replacement
MEMORY_CAPACITY = 10000
BATCH_SIZE = 32
class DDPG(object):
def __init__(self, a_dim, s_dim, a_bound,):
self.memory = np.zeros((MEMORY_CAPACITY, s_dim * 2 + a_dim + 1), dtype=np.float32)
self.pointer = 0
self.memory_full = False
self.sess = tf.Session()
self.a_replace_counter, self.c_replace_counter = 0, 0
# self.a_dim, self.s_dim, self.a_bound = a_dim, s_dim, a_bound[1]
self.a_dim, self.s_dim, self.a_bound = a_dim, s_dim, a_bound
self.S = tf.placeholder(tf.float32, [None, s_dim], 's')
self.S_ = tf.placeholder(tf.float32, [None, s_dim], 's_')
self.R = tf.placeholder(tf.float32, [None, 1], 'r')
with tf.variable_scope('Actor'):
self.a = self._build_a(self.S, scope='eval', trainable=True)
a_ = self._build_a(self.S_, scope='target', trainable=False)
with tf.variable_scope('Critic'):
# assign self.a = a in memory when calculating q for td_error,
# otherwise the self.a is from Actor when updating Actor
q = self._build_c(self.S, self.a, scope='eval', trainable=True)
q_ = self._build_c(self.S_, a_, scope='target', trainable=False)
# networks parameters
self.ae_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='Actor/eval')
self.at_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='Actor/target')
self.ce_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='Critic/eval')
self.ct_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='Critic/target')
# target net replacement
self.soft_replace = [[tf.assign(ta, (1 - TAU) * ta + TAU * ea), tf.assign(tc, (1 - TAU) * tc + TAU * ec)]
for ta, ea, tc, ec in zip(self.at_params, self.ae_params, self.ct_params, self.ce_params)]
q_target = self.R + GAMMA * q_
# in the feed_dic for the td_error, the self.a should change to actions in memory
td_error = tf.losses.mean_squared_error(labels=q_target, predictions=q)
self.ctrain = tf.train.AdamOptimizer(LR_C).minimize(td_error, var_list=self.ce_params)
a_loss = - tf.reduce_mean(q) # maximize the q
self.atrain = tf.train.AdamOptimizer(LR_A).minimize(a_loss, var_list=self.ae_params)
self.sess.run(tf.global_variables_initializer())
def choose_action(self, s):
return self.sess.run(self.a, {self.S: s[None, :]})[0]
def learn(self):
# soft target replacement
self.sess.run(self.soft_replace)
indices = np.random.choice(MEMORY_CAPACITY, size=BATCH_SIZE)
bt = self.memory[indices, :]
bs = bt[:, :self.s_dim]
ba = bt[:, self.s_dim: self.s_dim + self.a_dim]
br = bt[:, -self.s_dim - 1: -self.s_dim]
bs_ = bt[:, -self.s_dim:]
self.sess.run(self.atrain, {self.S: bs})
self.sess.run(self.ctrain, {self.S: bs, self.a: ba, self.R: br, self.S_: bs_})
def store_transition(self, s, a, r, s_):
transition = np.hstack((s, a, [r], s_))
index = self.pointer % MEMORY_CAPACITY # replace the old memory with new memory
self.memory[index, :] = transition
self.pointer += 1
if self.pointer > MEMORY_CAPACITY: # indicator for learning
self.memory_full = True
def _build_a(self, s, scope, trainable):
with tf.variable_scope(scope):
net = tf.layers.dense(s, 100, activation=tf.nn.relu, name='l1', trainable=trainable)
a = tf.layers.dense(net, self.a_dim, activation=tf.nn.tanh, name='a', trainable=trainable)
return tf.multiply(a, self.a_bound, name='scaled_a')
def _build_c(self, s, a, scope, trainable):
with tf.variable_scope(scope):
n_l1 = 100
w1_s = tf.get_variable('w1_s', [self.s_dim, n_l1], trainable=trainable)
w1_a = tf.get_variable('w1_a', [self.a_dim, n_l1], trainable=trainable)
b1 = tf.get_variable('b1', [1, n_l1], trainable=trainable)
net = tf.nn.relu(tf.matmul(s, w1_s) + tf.matmul(a, w1_a) + b1)
return tf.layers.dense(net, 1, trainable=trainable) # Q(s,a)
def save(self):
saver = tf.train.Saver()
saver.save(self.sess, './params', write_meta_graph=False)
def restore(self):
saver = tf.train.Saver()
saver.restore(self.sess, './params')
测试代码
import math
import numpy as np
from env import dogSheepEnv
from rl import DDPG
import matplotlib.pyplot as plt
import time
MAX_EPISODES = 200# 比赛次数
MAX_EP_STEPS = 2000# 每把比赛的步数
ON_TRAIN = False# 控制程序是进行训练还是进行测试
sigma=10 # 碰撞精度
# reward_list=[]# 准备画图
# ep_reward_list=[]
thetaP_list=[]
thetaP2_list=[]
thetaE_list=[]
rE_list=[]
# 设置环境
env = dogSheepEnv()
# 设置维度
state_dim = env.observation_space.shape[0]
action_dim = env.action_space.shape[0]
action_bound = env.action_space.high
# 设置强化学习模型
rl = DDPG(action_dim, state_dim, action_bound)
# 判断羊是否给抓住
def catch(R,theta1,theta2,theta3):
x=R*np.cos(theta1)
y=R*np.sin(theta1)
a=R*np.cos(theta2)
b=R*np.sin(theta2)
A=R*np.cos(theta3)
B=R*np.sin(theta3)
len1=math.sqrt((x-a)*(x-a)+(y-b)*(y-b))
len2=math.sqrt((x-A)*(x-A)+(y-B)*(y-B))
if len1 <= sigma and len2 <= sigma:
return True
else:
return False
def trans(tmp):
return 360*(tmp/(2*np.pi))
# def dis(R,theta1,theta2):
# x=R*np.cos(theta1)
# y=R*np.sin(theta1)
# a=R*np.cos(theta2)
# b=R*np.sin(theta2)
# len=math.sqrt((x-a)*(x-a)+(y-b)*(y-b))
# if len <= sigma:
# return False
# else:
# return True
# 训练过程
'''
env和算法的交互
传state
将一次学习的经历装进记忆库
rl模型一直将学习经历填进记忆库，直到记忆库满了才开始学习
填充记忆库的过程中，环境不断地交互
'''
def train():
for i in range(MAX_EPISODES):
print('i: ',i)
state = env.reset()
ep_reward = 0.# 单局比赛的总reward
for j in range(MAX_EP_STEPS):
env.render()# 画图
action = rl.choose_action(state)# 算法预测下一个动作
action=np.random.normal(action,scale=0.01) # 随机一下
# 这里限制一下动作空间
action=np.clip(action,env.state[0]-np.pi/2,env.state[0]+np.pi/2)
action=(action+2*np.pi)%(2*np.pi)
_state, reward, done = env.step(action) # 和环境交互
# reward_list.append(reward)
# print('reward: ',reward)
# print('i: ',i,' choose_action: ', trans(action[0]),' reward: ',reward,' state: ',_state)
rl.store_transition(state, action, reward, _state)# 把这次经历装进记忆库
ep_reward += reward
# 记忆模块填完之后算法开始学习
if rl.memory_full:
rl.learn()
state = _state
# time.sleep(0.2)
if done or j == MAX_EP_STEPS-1: # 结束
# if env.state[1] >= env.R and dis(env.R,env.state[0],env.state[2]):
if (env.state[1] >= env.R) and (not catch(env.R, env.state[0], env.state[2],env.state[3])):
print('sheep win')
else:
print('dog win')
# ep_reward_list.append(ep_reward)
print('Ep: %i | %s | ep_r: %.1f | steps: %i' % (i, '---' if not done else 'done', ep_reward, j))
break
rl.save() # 保存模型
# 测试
def eval():
rl.restore()# 提取模型
# env.render()
# env.viewer.set_vsync(True)
# while True:
# # print('新的一次')
# state = env.reset()
# for _ in range(1000):
# env.render()
# action = rl.choose_action(state)
# action = np.random.normal(action, scale=0.01) # 随机一下
# # 这里限制一下动作空间
# action = np.clip(action, env.state[0] - np.pi / 2, env.state[0] + np.pi / 2)
# action = (action + 2 * np.pi) % (2 * np.pi)
# # print('choose action: ',action,'state: ',env.state)
# state, reward, done = env.step(action)
# thetaE_list.append(state[0])
# rE_list.append(state[1])
# thetaP_list.append(state[2])
# if done:
# if env.state[1] >= env.R and dis(env.R,env.state[0],env.state[2]):
# print('sheep win')
# else:
# print('dog win')
# break
state = env.reset()
print('thetaP: ',state[2])
print('thetaP2: ', state[3])
for _ in range(1000):
env.render()
action = rl.choose_action(state)
# 这里限制一下动作空间
action = np.clip(action, env.state[0] - np.pi / 2, env.state[0] + np.pi / 2)
action = (action + 2 * np.pi) % (2 * np.pi)
state, reward, done = env.step(action)
thetaE_list.append(state[0])
rE_list.append(state[1])
thetaP_list.append(state[2])
thetaP2_list.append(state[3])
# print('choose action: ', action,' reward: ',reward, 'state: ', env.state)
if done:
break
input('input: ')
if ON_TRAIN:
train()
else:
eval()
# 画reward图
# plt.figure()
# len2=len(ep_reward_list)
# plt.plot(list(range(len2)),ep_reward_list)
# plt.title('reward convergence trend ')
# plt.xlabel('steps')
# plt.ylabel("reward")
# plt.show()
# 画犬1的图
plt.figure()
plt.plot(list(range(len(thetaP_list))),thetaP_list)
plt.title('pursuer1 theta')
plt.xlabel('steps')
plt.ylabel("theta")
plt.show()
# 画犬2的图
plt.figure()
plt.plot(list(range(len(thetaP2_list))),thetaP2_list)
plt.title('pursuer2 theta')
plt.xlabel('steps')
plt.ylabel("theta")
plt.show()
# 画羊的极角
plt.figure()
plt.plot(list(range(len(thetaE_list))),thetaE_list)
plt.title('escaper theta')
plt.xlabel('steps')
plt.ylabel("theta")
plt.show()
# 画羊的极径
plt.figure()
plt.plot(list(range(len(rE_list))),rE_list)
plt.title('escaper radius')
plt.xlabel('steps')
plt.ylabel("radius")
plt.show()
结果
一只犬一只羊的情况
回报收敛的趋势图
羊的逃逸路径
犬的追捕极角
羊的逃逸极角
羊的逃逸半径
两只犬一只羊的情况
回报收敛的趋势图
羊的逃逸路径
羊的逃逸极角
羊的逃逸半径
犬1的追捕极角
犬2的追捕极角
conda环境配置
absl-py 0.13.0 pypi_0 pypi
astor 0.8.1 pypi_0 pypi
astunparse 1.6.3 pypi_0 pypi
atari-py 0.2.9 pypi_0 pypi
ca-certificates 2021.5.30 h5b45459_0 conda-forge
cached-property 1.5.2 pypi_0 pypi
cachetools 4.2.2 pypi_0 pypi
certifi 2021.5.30 py37h03978a9_0 conda-forge
charset-normalizer 2.0.4 pypi_0 pypi
clang 5.0 pypi_0 pypi
cloudpickle 1.6.0 pypi_0 pypi
cycler 0.10.0 pypi_0 pypi
flatbuffers 1.12 pypi_0 pypi
gast 0.4.0 pypi_0 pypi
google-auth 1.35.0 pypi_0 pypi
google-auth-oauthlib 0.4.5 pypi_0 pypi
google-pasta 0.2.0 pypi_0 pypi
grpcio 1.39.0 pypi_0 pypi
gym 0.18.3 pypi_0 pypi
h5py 3.1.0 pypi_0 pypi
idna 3.2 pypi_0 pypi
importlib-metadata 4.6.4 pypi_0 pypi
joblib 1.0.1 pypi_0 pypi
keras 2.6.0 pypi_0 pypi
keras-applications 1.0.8 pypi_0 pypi
keras-preprocessing 1.1.2 pypi_0 pypi
kiwisolver 1.3.1 pypi_0 pypi
markdown 3.3.4 pypi_0 pypi
matplotlib 3.4.3 pypi_0 pypi
mpi4py 3.1.1 pypi_0 pypi
numpy 1.19.5 pypi_0 pypi
oauthlib 3.1.1 pypi_0 pypi
opencv-python 4.5.3.56 pypi_0 pypi
openssl 1.1.1k h8ffe710_0 conda-forge
opt-einsum 3.3.0 pypi_0 pypi
pandas 1.3.2 pypi_0 pypi
pillow 8.2.0 pypi_0 pypi
pip 21.2.1 pyhd8ed1ab_0 conda-forge
protobuf 3.17.3 pypi_0 pypi
pyasn1 0.4.8 pypi_0 pypi
pyasn1-modules 0.2.8 pypi_0 pypi
pyglet 1.5.15 pypi_0 pypi
pyparsing 2.4.7 pypi_0 pypi
python 3.7.10 h7840368_100_cpython conda-forge
python-dateutil 2.8.2 pypi_0 pypi
python_abi 3.7 2_cp37m conda-forge
pytz 2021.1 pypi_0 pypi
requests 2.26.0 pypi_0 pypi
requests-oauthlib 1.3.0 pypi_0 pypi
rsa 4.7.2 pypi_0 pypi
scipy 1.7.0 pypi_0 pypi
setuptools 49.6.0 py37h03978a9_3 conda-forge
six 1.15.0 pypi_0 pypi
sqlite 3.36.0 h8ffe710_0 conda-forge
stable-baselines 2.10.0 pypi_0 pypi
tensorboard 1.14.0 pypi_0 pypi
tensorboard-data-server 0.6.1 pypi_0 pypi
tensorboard-plugin-wit 1.8.0 pypi_0 pypi
tensorflow 1.14.0 pypi_0 pypi
tensorflow-estimator 1.14.0 pypi_0 pypi
termcolor 1.1.0 pypi_0 pypi
typing-extensions 3.7.4.3 pypi_0 pypi
ucrt 10.0.20348.0 h57928b3_0 conda-forge
urllib3 1.26.6 pypi_0 pypi
vc 14.2 hb210afc_5 conda-forge
vs2015_runtime 14.29.30037 h902a5da_5 conda-forge
werkzeug 2.0.1 pypi_0 pypi
wheel 0.36.2 pyhd3deb0d_0 conda-forge
wincertstore 0.2 py37h03978a9_1006 conda-forge
wrapt 1.12.1 pypi_0 pypi
zipp 3.5.0 pypi_0 pypi
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