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⛄ 内容介绍
当前，机器人已经出现在各行各业的各种应用场景中，机器人以及自动化技
术极大地推动了社会经济的发展进步。无人机是一种依靠自身燃料与相关控制系
统的配合进行自主运行自动完成任务的航空飞行器，无人机是一类灵活性较高的
移动机器人。就外观与动力系统而言，无人机可分为固定翼无人机与旋翼无人机。
固定翼无人机飞行时依靠固定飞行翼切割空气产生的升力使机身脱离地面飞行，
固定翼无人机具有飞行速度快，机体载重大等优点；另一方面，旋翼无人机一般
依靠 4 个或多个螺旋桨旋转速度的不同组合来产生不同方向的合力从而改变无
人机的位置与姿态，具有灵活，起降要求低，可固定悬停等优点。
近几十年来，随着我国工业化的飞速发展，机器人的普遍应用使得我国工厂
的智能化水平越来越高，从工厂自动运输货物型机器人自动搬运零件到组装机械
臂自动操作型机器人再到家用扫地机器人，这些机器人的出现代替了人类过去手
动重复式的日常劳作，减轻了人们的工作生活负担，提高了人类日常工作效率。
此外，随着交互式甚至自主式机器人走进普通人的生活环境，如今，在诸多应用
场景中，如各种人工智能型教育应用软件的出现甚至替代了传统的教师现场授课
的教育模式，可以预见，人工智能与机器人将会在未来的人们生活中发挥巨大的
推动作用
⛄ 部分代码
% ------------------------ %
clear; clc; close all;
%Add paths
addpath(genpath('.\Objective_Functions\'));
addpath(genpath('.\Constraints\'));
addpath(genpath('.\ColorPath\'));
addpath(genpath('.\Compare\'));
addpath(genpath('.\OptimalPathGuesses\'));
addpath(genpath('.\CalculateEnergyUse\'));
%profiling tools
%profile on
%-------global variables----------%
global xf; %final position
global x0; %current starting pointPath_bez
global step_max; %max step distance
global step_min; %minimum step distance
global t; %parameterization variable
global n_obs; %number of obstacles
global obs; %positions of obstacles
global obs_rad; %radius of obstacles
global turn_r; %minimum turn radius
global Pmid; %needed to match derivatives
global num_path; %number of segments optimized
global x_new;
global Dynamic_Obstacles;
global x_next; %used in multi_start function
global uav_ws; %UAV wing span
global start;
global initial; % to calculate d_l_min
global uav_finite_size;
global rho f W span eo;
global summer_c cool_c copper_c parula_c winter_c blue_red blue_magenta_red green_purple blue_gray_red shortened_viridis_c shortened_inferno_c;
global shortened_parula_c;
global obj_grad cons_grad ag acg;
global max_speed min_speed D_eta_opt;
global l_l_last;
%------------Algorithm Options------------%
% use genetic algorithm
use_ga = 0;
Dynamic_Obstacles = 0;
num_path = 3; %Receding Horizon Approach (any number really, but 3 is standard)
ms_i = 3; %number of guesses for multi start (up to 8 for now, up to 3 for smart)
uav_finite_size = 1; %input whether want to include UAV size
check_viability = 1; %Exits if unable to find viable path
%Objective Function
optimize_energy_use = 0; %changes which objective function is used
optimize_time = 0; %if both are zero, then path length is optimized
max_func_evals = 10000;
max_iter = 50000;
initial = 1;
% Plot Options
totl = 1; %turn off tick labels
square_axes = 1; %Square Axes
radar = 0; %Plots UAV's limit of sight
show_sp = 0; %Plots P1 of Bezier curve
Show_Steps = 0; %Needs to be turned on when Dynamic_Obstacles is turned on
linewidth = 4; %Line width of traversed path segment
traversedwidth = 2;
dashedwidth = 2;
fwidth = 2; %width of UAV path in FinalPlot.m
show_end = 0; %for calc_fig
compare_num_path = 0;
save_path = 0; %save path data to use in compare
sds = 0; %Allows a closer view of dynamic obstacle avoidance
cx = 50;
%plot color options
speed_color = 1; %use if you want color to represent speed
d_speed_color = 0; %use if you want color to be discretized over path length
cb = 1; %color brightness
summer_c = 0;
cool_c = 0;
copper_c = 0;
parula_c = 0;
winter_c = 0;
blue_red = 0;
blue_magenta_red = 0;
green_purple = 0;
blue_gray_red = 0;
shortened_parula_c = 1;
shortened_viridis_c = 0;
shortened_inferno_c = 0;
color_bar = 0;
%----------------------------------------%
create_video = 1; %saves the solutions of the multistart approach at each iteration
% Gradient Calculation Options
obj_grad = 1; %if this is 1 and below line is 0, complex step method will be used to calculate gradients
if obj_grad == 1
analytic_gradients = 1;
ag = analytic_gradients;
end
cons_grad = 1; %if this is 1 and below line is 0, complex step method will be used to calculate gradients
if cons_grad == 1
analytic_constraint_gradients = 1;
acg = analytic_constraint_gradients;
end
%----------------plane geometry/info----------------%
%UAV parameter values
rho = 1.225; %air density
f = .2; %equivalent parasite area
W = 10; %weight of aircraft
span = .20; %span
eo = 0.9; %Oswald's efficiency factor
if optimize_energy_use == 1
%Defined in paper "Fuel Efficiency of Small Aircraft" (2nd column, page 2)
A = rho*f/(2*W);
B = 2*W/(rho*span^2*pi*eo);
%find minimum d_l, and minimum efficiency
if initial == 1
V_possible = 0.1 : 0.01 : 25;
for i = 1 : length(V_possible)
D_L = A*V_possible(i)^2 + B/V_possible(i)^2; % we want to maximize l_d, or minimize d_l
eta_pos = calc_eff(V_possible(i));
%calculate D_L/eta
D_eta(i) = D_L/eta_pos;
end
%find optimal D_eta
D_eta_opt = min(D_eta);
end
end
% --------------------------------- %
l = 0;
%parameterization vector t
global delta_t;
t = linspace(0,1,11);
delta_t = t(2) - t(1);
%for plot_both function
%global Path_bez;
turn_r = 5; %turn radius, m
%maximum/stall speed, m/s
max_speed = 15.0;
min_speed = 10.0;
l_l_last = (min_speed)/(length(t));
%transalte UAV information to fit with algorithm
step_max = max_speed; %/2;
step_min = min_speed; %/2;
%Wing span of UAV
if uav_finite_size == 1
uav_ws = 1.0; %UAV wing span
else
uav_ws = 0.001;
end
%starting/ending position of plane
x_sp = [0,0];
x0 = x_sp;
xf = [100,100];
Bez_points = [];
lr = 15; %landing zone radius; should be =< 15
%--------------------------------------------------%
%-------static obstacle information---------%
%rng(3); %50/4/3
%rng(4); %49/4/3
%rng(59); %54/4/3 - use for sds, ms_i = 3, 34/4/3
%rng(60); %50/4/3
%rng(13); %40/4/3
%rng(15); %40/4/3
%rng(20); %40/4/3
%rng(8);
rng(7);
n_obs = 50; %number of static obstacles
obs = rand(n_obs,2)*90+5; %obstacle locations
rng(4); %for partially random obstacle size
obs_rad = (4-uav_ws) + rand(n_obs,1)*3; %obstacle radius
%-------------------------------------------%
% calculate density
obs_density = calc_obs_den(n_obs, obs, obs_rad, uav_ws);
%------dynamic obstacle information---------%
if Dynamic_Obstacles == 1
global n_obsd obs_d_sp obs_d_v obs_d_s obs_d_cp;
%choose 1-4 for cases (see function for description)
[n_obsd, obs_d_sp, obs_d_s, obs_d_v] = dyn_case(5);
obs_d_s = obs_d_s-ones(n_obsd,1)*uav_ws; %size of obstacles, also used (5)
obs_d_cp = obs_d_sp; %current position of obstacles
obs_d_cp_hist(1,:,1) = obs_d_sp(1,:);
end
%-------------------------------------------%
% for make_video
if create_video == 1
solution1 = [];
solution2 = [];
solution3 = [];
solution4 = [];
solution5 = [];
end
%----------------- optimizer ---------- fmincon -----------------------%
%unused parts in fmincon
A = [];
b = [];
Aeq = [];
beq = [];
%lb = -10*ones(2*num_path,2);
%ub = 110*ones(2*num_path,2);
lb = [];
ub = [];
%Pmed initialization, used to match up derivatives between paths
Pmid = [-min_speed/2,-min_speed/2];
%Pmid = [-3,-3];
Path_bez = [];
path_start = [];
%initial guess(es)
start = 0;
xi = multi_start(ms_i);
%start
start = 1;
%x_new is not close to final position
x_new = zeros(2*num_path,2);
x_next = x_new;
% note: each iteration of while loop represents some time step, in which
% UAV travels on path and dynamic obstacles move
%fmincon options
if obj_grad == 1 && cons_grad == 1
options = optimoptions('fmincon','Algorithm','sqp','MaxFunEvals',max_func_evals,'MaxIter',max_iter,...
'GradObj','on','GradCon','on','DerivativeCheck','off');
elseif obj_grad == 0 && cons_grad == 1
options = optimoptions('fmincon','Algorithm','sqp','MaxFunEvals',max_func_evals,'MaxIter',max_iter,...
'GradObj','off','GradCon','on','DerivativeCheck','off');
elseif obj_grad == 1 && cons_grad == 0
options = optimoptions('fmincon','Algorithm','sqp','MaxFunEvals',max_func_evals,'MaxIter',max_iter,...
'GradObj','on','GradCon','off','DerivativeCheck','off');
else
options = optimoptions('fmincon','Algorithm','sqp','MaxFunEvals',max_func_evals,'MaxIter',max_iter,...
'GradObj','off','GradCon','off');
end
tic % begin optimization time
while ( ( (x_next(2*num_path,1)-xf(1))^2 + (x_next(2*num_path,2)-xf(2))^2 )^0.5 > lr )
%record number of paths
l = l + 1;
for i = 1 : ms_i %multistart approach to find best solution
%choose objective function
if optimize_energy_use == 1
if use_ga == 1
error('Not ready yet for ga');
else
[x_new(:,:,i),fval,e(i,l),output] = fmincon(@opt_e, xi(:,:,i) , A, b, Aeq, beq, lb, ub, @cons,options);
end
elseif optimize_time == 1
if use_ga == 1
error('Not ready yet for ga');
else
[x_new(:,:,i),fval,e(i,l),output] = fmincon(@opt_t, xi(:,:,i) , A, b, Aeq, beq, lb, ub, @cons,options);
end
else
if use_ga == 1
error('Not ready yet for ga');
else
[x_new(:,:,i),fval,e(i,l),output] = fmincon(@opt_d, xi(:,:,i) , A, b, Aeq, beq, lb, ub, @cons,options);
end
end
% %check curvature
% c = check_curvature_new(i);
%
% %if constraints are violated, make infeasible
% if any(c > 0)
% e(i,l) = -2;
% end
end
for i = 1 : ms_i %calculate how good solutions are
% For make_video
if create_video == 1
if i == 1
solution1 = [solution1; x_new(:,:,i)];
elseif i == 2
solution2 = [solution2; x_new(:,:,i)];
elseif i == 3
solution3 = [solution3; x_new(:,:,i)];
elseif i == 4
solution4 = [solution4; x_new(:,:,i)];
elseif i == 5
solution5 = [solution5; x_new(:,:,i)];
end
end
if optimize_energy_use == 1
d_check(i) = opt_e(x_new(:,:,i));
elseif optimize_time == 1
d_check(i) = opt_t(x_new(:,:,i));
else
d_check(i) = opt_d(x_new(:,:,i));
end
%'remove' solutions that converged to an infeasible point
if e(i,l) == -2
d_check(i) = d_check(i)*10;
end
end
%Check for viable paths
check = (e == -2);
if all(check(:,l)) == 1 && check_viability == 1
%error('Unable to find viable path.');
end
for i = 1 : ms_i %choose best solution, use for next part
if d_check(i) == min(d_check)
x_next = x_new(:,:,i);
end
end
%
initial = 0;
% makes the path of the UAV for this section
for i = 1 : length(t)
path_part(i,:) = (1-t(i))^2*x0(1,:) + 2*(1-t(i))*t(i)*x_next(1,:)+t(i)^2*x_next(2,:);
% if i > 1
% norm(path_part(i,:)-path_part(i-1,:))
% end
end
%make the planned path of the UAV
if num_path > 1
for j = 1 : (num_path-1)
for i = 1 : length(t)
path_planned(i+(j-1)*length(t),:) = (1-t(i))^2*x_next(2*j,:) + 2*(1-t(i))*t(i)*x_next(2*j+1,:)+t(i)^2*x_next(2*j+2,:);
end
end
end
if Show_Steps == 1
plot_int_steps(l, square_axes, color_bar, totl, x_sp, cx, speed_color, path_part, path_planned, Path_bez, d_speed_color, cb...
,linewidth, traversedwidth, dashedwidth, radar, show_sp, show_end, sds, lr);
end
%----------------------------------------------------------%
%record where start of each path is
path_start = [path_start; path_part(1,:)];
%continues the path which will be plotted
Path_bez = [Path_bez; path_part];
l_l_last = norm(Path_bez(length(Path_bez),:)-Path_bez(length(Path_bez)-1,:));
%set new starting point
x0 = x_next(2,:);
%set Pmid
Pmid = x_next(1,:);
%choose new guess for next iteration
xi = multi_start(ms_i);
%print current location
x_next(2,:)
Bez_points = [Bez_points; x_next(1:2,:)];
end %while
toc % end optimization time
Bez_points = [Bez_points; x_next(3:num_path*2,:)];
% Final Plot
FinalPlot(path_start, Path_bez, l, square_axes, totl, color_bar, speed_color...
, delta_t, d_speed_color, cb, cx, lr, x_sp, fwidth);
%compare paths created using various number of look ahead paths
if compare_num_path == 1
if num_path == 1
save('.\Compare\path_1.txt','Path_bez','-ascii');
save('.\Compare\start_1.txt','path_start','-ascii');
elseif num_path == 2
save('.\Compare\path_2.txt','Path_bez','-ascii');
save('.\Compare\start_2.txt','path_start','-ascii');
elseif num_path == 3
save('.\Compare\path_3.txt','Path_bez','-ascii');
save('.\Compare\start_3.txt','path_start','-ascii');
elseif num_path == 4
save('.\Compare\path_4.txt','Path_bez','-ascii');
save('.\Compare\start_4.txt','path_start','-ascii');
elseif num_path == 5
save('.\Compare\path_5.txt','Path_bez','-ascii');
save('.\Compare\start_5.txt','path_start','-ascii');
elseif num_path == 6
save('.\Compare\path_6.txt','Path_bez','-ascii');
save('.\Compare\start_6.txt','path_start','-ascii');
end
end
%add planned path
Path_bez = [Path_bez; path_planned(2:length(path_planned),:)];
%save path info to use in 'compare file'
if save_path == 1
if optimize_energy_use == 1
save('.\Compare\path_e.txt','Path_bez','-ascii');
save('.\Compare\start_e.txt','path_start','-ascii');
elseif optimize_time == 1
save('.\Compare\path_t.txt','Path_bez','-ascii');
save('.\Compare\start_t.txt','path_start','-ascii');
else
save('.\Compare\path_d.txt','Path_bez','-ascii');
save('.\Compare\start_d.txt','path_start','-ascii');
end
end
%output of compare (energy, distance, time)
[td, tt, te] = compare_of(Path_bez,Bez_points,optimize_energy_use,optimize_time);
%profiling tools
%profiling_info = profile('info');
%toc % end optimization and plotting time
⛄ 运行结果
⛄ 参考文献
[1]黄大荣, 柯兰艳, 孙国玺, et al. 一种基于floyd算法的无人机路径规划方法:, CN106525047A[P]. 2017.
[2]罗诚. 无人机路径规划算法研究[D]. 复旦大学, 2010.
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