前言
提示:这里可以添加本文要记录的大概内容:
面试官如果正在面我,请让我过吧。(手动狗头)
提示:以下是本篇文章正文内容,下面案例可供参考
一、博客目的?
记录下自己学习的过程,跟大家一起交流。
二、Uda课程中PID控制算法的Python实现
1.引入库
后面有用到,再一起看一下。代码如下:
import random
import numpy as np
import matplotlib.pyplot as plt
还有一条
# maximum recursion depth exceeded
import sys
sys.setrecursionlimit(3000)
这个咱也不懂啊,我把sys.setrecursionlimit,doc(我记得有个markdown段内插入代码的功能,忘了,后面再加吧。)搬过来了,能看懂一点点了。简言之,防止爆栈。
setrecursionlimit(n)
Set the maximum depth of the Python interpreter stack to n. This
limit prevents infinite recursion from causing an overflow of the C
stack and crashing Python. The highest possible limit is platform-
dependent.
2.class和运行
这个还是稍微麻烦,我直接在注释中写好,然后把代码复制过来,怎么高效怎么来。:
class Robot(object):
def __init__(self, length=20.0):
"""
Creates robot and initializes location/orientation to 0, 0, 0.
我来翻译一下,创建机器人并初始化位置和方向为0, 0, 0
"""
self.x = 0.0
self.y = 0.0
self.orientation = 0.0 #todo 这个角度应该是车辆x轴和大地X轴的角度,这里存疑
self.length = length
self.steering_noise = 0.0
self.distance_noise = 0.0
self.steering_drift = 0.0
def set(self, x, y, orientation):
"""
Sets a robot coordinate.
设置一个机器人的坐标。位置和方向。
"""
self.x = x
self.y = y
self.orientation = orientation % (2.0 * np.pi) #这里是个取余的符号,我之前看成了除法,纳闷了大半天,果然不能自以为是
def set_noise(self, steering_noise, distance_noise):
"""
Sets the noise parameters.
设置噪声参数,噪声无处不在啊。
"""
# makes it possible to change the noise parameters
# this is often useful in particle filters
self.steering_noise = steering_noise
self.distance_noise = distance_noise
def set_steering_drift(self, drift):
"""
Sets the systematical steering drift parameter
设置系统的转向漂移参数。这里面可能考虑的是转向齿轮之前的框量,也应该包括初始时候的偏移。
"""
self.steering_drift = drift
def move(self, steering, distance, tolerance=0.001, max_steering_angle=np.pi / 4.0):
"""
steering = front wheel steering angle, limited by max_steering_angle
distance = total distance driven, most be non-negative
转向是前轮转向角度,受限。不能超过物理极限。
距离一般是非负的。
"""
if steering > max_steering_angle:#转向角过大的处理
steering = max_steering_angle
if steering < -max_steering_angle:
steering = -max_steering_angle
if distance < 0.0:#形势距离为负的处理
distance = 0.0
# apply noise 噪声值 貌似高斯噪声是符合正太分布的。属于我的知识盲区,后面要补上。
steering2 = random.gauss(steering, self.steering_noise)
distance2 = random.gauss(distance, self.distance_noise)
# apply steering drift 噪声值再加上漂移值
steering2 += self.steering_drift
# Execute motion 不知道用的啥模型,我去找老王推到运动学模型去了。先看下面的。
turn = np.tan(steering2) * distance2 / self.length
if abs(turn) < tolerance:
# approximate by straight line motion
self.x += distance2 * np.cos(self.orientation)
self.y += distance2 * np.sin(self.orientation)
self.orientation = (self.orientation + turn) % (2.0 * np.pi)
else:
# approximate bicycle model for motion
radius = distance2 / turn
cx = self.x - (np.sin(self.orientation) * radius)
cy = self.y + (np.cos(self.orientation) * radius)
self.orientation = (self.orientation + turn) % (2.0 * np.pi)
self.x = cx + (np.sin(self.orientation) * radius)
self.y = cy - (np.cos(self.orientation) * radius)
def __repr__(self):
return '[x=%.5f y=%.5f orient=%.5f]' % (self.x, self.y, self.orientation)
############## ADD / MODIFY CODE BELOW ####################
# ------------------------------------------------------------------------
#
# run - does a single control run
robot = Robot() #实例化
robot.set(0, 1, 0) #对象设置初始值
def run(robot, tau, n=100, speed=1.0):
x_trajectory = []
y_trajectory = []
# TODO: your codehere 下面是算法的实现
for i in range(n):
cte = robot.y
steer = -tau*cte
robot.move(steer,speed)
x_trajectory.append(robot.x)
y_trajectory.append(robot.y)
return x_trajectory, y_trajectory
x_trajectory,y_trajectory = run(robot, 1) #第二个参数是P增益大小
n = len(x_trajectory)
print(x_trajectory)
print(y_trajectory)
#plt.plot(x_trajectory, y_trajectory, 'g', label='P controller')
#下面是出图,不知为啥没有显示出来
fig, (ax1, ax2) = plt.subplots(2, 1, figsize=(8, 8))
ax1.plot(x_trajectory, y_trajectory, 'g', label='P controller')
ax1.plot(x_trajectory, np.zeros(n), 'r', label='reference')
总结
亲爱的面试官,也许你发现我很菜,但谁还不是从新手慢慢熟起来的呢。我只想说,老司机,带带我。