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Wally Hackenslacker
2016-06-28 04:02:31 -04:00
parent cecd37420d
commit fecc196ae7
9 changed files with 211 additions and 95 deletions
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2
Makefile
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@@ -30,7 +30,7 @@ CFLAGS = -ansi -pedantic -Wall -I./include
CXXFLAGS = -ansi -pedantic -Wall `pkg-config --cflags playerc++` -I./include -DGLM_FORCE_RADIANS -DBOOST_SIGNALS_NO_DEPRECATION_WARNING
LDLIBS = `pkg-config --libs playerc++` -lboost_system -lm -lpthread -lz -lGLEW -lGLU -lGL -lfltk -lfltk_gl
all: CXXFLAGS += -O2 -D_NDEBUG
all: CXXFLAGS += -O2 -DNDEBUG
all: $(TARGET)
debug: CXXFLAGS += -g

7
README.org
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@@ -9,8 +9,9 @@ following papers:
This is being developed as part of the Robotics and Bio-Inspired Learning graduate course at UCV.
Future versions of this README file will include a technical report on the developed software.
** Notes
The file ~maps/cave.png~ is part of the standard Stage distribution.
* The file ~maps/cave.png~ is part of the standard Stage distribution.
* This software uses the /pnglite/ library by Daniel Karling.
* The ~GLSLProgram~ code was written by Esmitt Ramirez J.

138
ias_robot.cpp
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@@ -23,6 +23,7 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
*************************************************************************************/
#include <map>
#include <limits>
#include <cstdlib>
#include <cmath>
@@ -30,15 +31,20 @@
#include "ias_robot.hpp"
static const float TURN_DEG_PER_SEC = 40.0f;
#define PROB_MODEL_1
static const float TURN_DEG_PER_SEC = 90.0f;
static const float METERS_PER_SEC = 0.4f;
static const long HALF_SECOND_USEC = 500000;
static const double MIN_DIST_M = 1.5;
static const double CRIT_DIST_M = 1.0;
static const double MIN_DIST_M = 1.0;
static const double CRIT_DIST_M = 0.7;
static const float MAP_SIZE = 16.0f;
static const int PHERO_AMOUNT = 25;
static const float PHERO_RADIUS = 1.0;
static const float SENSOR_RADIUS = 2.0;
static const int PHERO_AMOUNT = 30;
static const float PHERO_RADIUS = 1.4f;
static const float SENSOR_RADIUS = 2.0f;
static const float U_RATIO = 0.3f;
static const float V_RATIO = 0.1f;
static const float SMOOTHING_COEFF = 0.3f;
static inline float random_num() {
return (((static_cast<float>(rand() % 256) / 256.0) - 0.5f) * 2.0f ) * PHERO_RADIUS;
@@ -55,11 +61,11 @@ IASSS_Robot::~IASSS_Robot() {
}
void IASSS_Robot::run() {
float x, y;
float x, y, steer = 0.0f;
int rv;
long then, now, delta, wait;
struct timeval tv;
double dist = std::numeric_limits<double>::infinity();
double dist = std::numeric_limits<double>::infinity();
_p_client->Read();
@@ -70,6 +76,10 @@ void IASSS_Robot::run() {
y = (_p_proxy->GetYPos() + (MAP_SIZE / 2)) / MAP_SIZE;
_phero_map->s_sample(&_phero_sensor, x, y, _p_proxy->GetYaw(), SENSOR_RADIUS / MAP_SIZE);
steer += SMOOTHING_COEFF * brss();
deposit_pheromone(x, y);
/******************************************************************************
* WALL AVOIDANCE START *
******************************************************************************/
@@ -82,13 +92,11 @@ void IASSS_Robot::run() {
} else if(dist <= CRIT_DIST_M) {
avoid_wall(0.0f, TURN_DEG_PER_SEC);
} else
_p_proxy->SetSpeed(METERS_PER_SEC, 0.0f);
_p_proxy->SetSpeed(METERS_PER_SEC, steer);
/******************************************************************************
* WALL AVOIDANCE END *
******************************************************************************/
deposit_pheromone();
rv = gettimeofday(&tv, NULL);
now = tv.tv_usec;
delta = now - then;
@@ -116,26 +124,100 @@ void IASSS_Robot::avoid_wall(float front_speed, float turn_speed) {
_p_proxy->SetSpeed(front_speed, PlayerCc::dtor(turn_speed));
}
void IASSS_Robot::deposit_pheromone() {
float x = _p_proxy->GetXPos();
float y = _p_proxy->GetYPos();
float px, py;
void IASSS_Robot::deposit_pheromone(float x, float y) {
for(int i = 0; i < PHERO_AMOUNT; i++)
_phero_map->s_deposit_pheromone(x, y, _p_proxy->GetYaw(), PHERO_RADIUS / MAP_SIZE);
}
if(_phero_map != NULL) {
for(int i = 0; i < PHERO_AMOUNT; i++) {
px = random_num() + x;
py = random_num() + y;
if(fabs(px) < (MAP_SIZE / 2) && fabs(py) < (MAP_SIZE / 2)) {
px = (px + (MAP_SIZE / 2)) / MAP_SIZE;
py = (py + (MAP_SIZE / 2)) / MAP_SIZE;
if(!_phero_map->s_deposit_pheromone(px, py)) {
i--;
break;
float IASSS_Robot::brss() {
std::map<int, float> U, V;
unsigned int i_min, i_max;
float min, sample, prob, max, sum_uv = 0.0f, steer;
while(U.size() < (U_RATIO * NUM_PHERO_SAMPLES)) {
min = std::numeric_limits<double>::max();
i_min = 0;
for(unsigned int i = NUM_PHERO_SAMPLES / 2; i < NUM_PHERO_SAMPLES; i++) {
sample = _phero_sensor[i];
if(U.find(i) == U.end()) {
if(sample < min) {
min = sample;
i_min = i;
}
} else {
i--;
break;
}
}
for(unsigned int i = NUM_PHERO_SAMPLES / 2; i > 0; i--) {
sample = _phero_sensor[i];
if(U.find(i) == U.end()) {
if(sample < min) {
min = sample;
i_min = i;
}
}
}
U[i_min] = min;
}
while(V.size() < (V_RATIO * NUM_PHERO_SAMPLES)) {
for(unsigned int i = NUM_PHERO_SAMPLES / 2; i < NUM_PHERO_SAMPLES; i++) {
if(U.find(i) == U.end() && V.find(i) == V.end()) {
prob = rand() % 100;
if(prob < 15)
V[i] = _phero_sensor[i];
}
}
for(unsigned int i = NUM_PHERO_SAMPLES / 2; i > 0; i--) {
if(U.find(i) == U.end() && V.find(i) == V.end()) {
prob = rand() % 100;
if(prob < 15)
V[i] = _phero_sensor[i];
}
}
}
for(std::map<int, float>::iterator it = U.begin(); it != U.end(); ++it) {
#ifdef PROB_MODEL_1
sum_uv += it->second;
#else
sum_uv += 1.0f - it->second;
#endif
}
for(std::map<int, float>::iterator it = V.begin(); it != V.end(); ++it) {
#ifdef PROB_MODEL_1
sum_uv += it->second;
#else
sum_uv += 1.0f - it->second;
#endif
}
U.clear();
V.clear();
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
#ifdef PROB_MODEL_1
_phero_sensor.probs[i] = 1.0f / (_phero_sensor[i] / sum_uv);
#else
_phero_sensor.probs[i] = (1.0f - _phero_sensor[i]) / ( / sum_uv);
#endif
}
max = std::numeric_limits<double>::min();
i_max = 0;
for(unsigned int i = NUM_PHERO_SAMPLES / 2; i < NUM_PHERO_SAMPLES; i++) {
if(_phero_sensor.probs[i] > max) {
max = _phero_sensor.probs[i];
i_max = i;
}
}
for(unsigned int i = NUM_PHERO_SAMPLES / 2; i > 0; i--) {
if(_phero_sensor.probs[i] > max) {
max = _phero_sensor.probs[i];
i_max = i;
}
}
steer = (NUM_PHERO_SAMPLES / 2.0f) - i_max;
return steer;
}

3
ias_robot.hpp
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@@ -51,7 +51,8 @@ private:
phero_sensor_t _phero_sensor;
void avoid_wall(float front_speed, float turn_speed);
void deposit_pheromone();
void deposit_pheromone(float x, float y);
float brss();
};
#endif

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138
pheromone.cpp
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@@ -29,14 +29,16 @@
#include <cassert>
#include <pnglite.h>
#include <glm/glm.hpp>
#include <libplayerc++/playerc++.h>
#include "pheromone.hpp"
#define MAP_POS(X, Y) (data[((X) * m_height) + (Y)])
static const float EVAPORATION_RATE = 0.05f;
const unsigned char MAX_PHERO_INTENSITY = 255;
const unsigned char MIN_PHERO_INTENSITY = 1;
static const unsigned int MAX_ITERS = 1000;
static const float EVAPORATION_RATE = 0.1f;
const unsigned char MAX_PHERO_INTENSITY = 250;
const unsigned char MIN_PHERO_INTENSITY = 0;
static inline int sign(float f) {
return (f < 0.0f) ? -1 : ((f > 0.0f) ? 1 : 0);
@@ -46,6 +48,10 @@ static inline int side(glm::vec3 line, glm::vec3 v) {
return sign(glm::cross(line, v).z);
}
static inline float random_n(float r) {
return (((static_cast<float>(rand() % 256) / 256.0) - 0.5f) * 2.0f ) * r;
}
PheromoneMap::PheromoneMap(const char * file_name) {
load_map(file_name);
sem_init(&map_semaphore, 0, 1);
@@ -55,6 +61,7 @@ PheromoneMap::PheromoneMap(const char * file_name) {
PheromoneMap::~PheromoneMap() {
delete data;
delete tex_data;
sem_destroy(&map_semaphore);
if(tex_created) {
@@ -65,12 +72,13 @@ PheromoneMap::~PheromoneMap() {
}
void PheromoneMap::load_map(const char * file_name) {
unsigned char * _data;
png_t tex;
png_init(0, 0);
png_open_file_read(&tex, file_name);
data = new unsigned char[tex.width * tex.height * tex.bpp];
png_get_data(&tex, data);
_data = new unsigned char[tex.width * tex.height * tex.bpp];
png_get_data(&tex, _data);
std::cout << "Loaded map \"" << file_name << "\" :: " << tex.width << "x" << tex.height << "x" << (int)tex.bpp << std::endl;
m_width = tex.width;
@@ -78,6 +86,13 @@ void PheromoneMap::load_map(const char * file_name) {
m_bpp = tex.bpp;
png_close_file(&tex);
data = new int[tex.width * tex.height * tex.bpp];
tex_data = new unsigned char[tex.width * tex.height * tex.bpp];
for(unsigned int i = 0; i < (tex.width * tex.height * tex.bpp); i++) {
data[i] = _data[i];
}
delete _data;
}
GLuint PheromoneMap::s_build_texture() {
@@ -88,10 +103,14 @@ GLuint PheromoneMap::s_build_texture() {
glDeleteTextures(1, &handle);
}
for(unsigned int i = 0; i < (m_width * m_height * m_bpp); i++) {
tex_data[i] = static_cast<unsigned char>(data[i]);
}
glGenTextures(1, &handle);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, handle);
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data);
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, tex_data);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
@@ -101,41 +120,61 @@ GLuint PheromoneMap::s_build_texture() {
return handle;
}
bool PheromoneMap::s_deposit_pheromone(float x, float y) {
bool valid = false;
unsigned int _x = m_width * x;
unsigned int _y = m_height - (m_height * y);
void PheromoneMap::s_deposit_pheromone(float x, float y, float yaw, float radius) {
unsigned int iters = 0, _x, _y;
bool valid = false;
float dist, cos_theta, r_x, r_y;
glm::vec2 v, vp;
if((y > 1.0 || y < 0.0) || (x > 1.0 || x < 0.0))
return false;
if((_y >= m_height || _y < 0) || (_x >= m_width || _x < 0))
return false;
v = glm::vec2(radius * cos(yaw), radius * sin(yaw)) - glm::vec2(0.0, 0.0);
v = glm::normalize(v);
sem_wait(&map_semaphore); {
if(MAP_POS(_y, _x) >= MIN_PHERO_INTENSITY) {
MAP_POS(_y, _x) = MAX_PHERO_INTENSITY;
valid = true;
}
} sem_post(&map_semaphore);
return valid;
do {
do {
do {
do {
r_x = random_n(radius) + x;
r_y = random_n(radius) + y;
} while((r_x <= 0.0f && r_y <= 0.0f) || (r_x >= 1.0f && r_y >= 1.0f));
vp = glm::vec2(r_x, r_y) - glm::vec2(x, y);
dist = glm::length(vp);
} while(dist > radius);
vp = glm::normalize(vp);
cos_theta = glm::dot(vp, v);
} while(cos_theta > 0.0f);
_x = m_width * r_x;
_y = m_height - (m_height * r_y);
_x = _x < 0 ? _x = 0 : (_x >= m_width ? m_width - 1 : _x);
_y = _y < 0 ? _y = 0 : (_y >= m_height ? m_height - 1 : _y);
sem_wait(&map_semaphore); {
if(MAP_POS(_y, _x) <= MAX_PHERO_INTENSITY) {
MAP_POS(_y, _x) += rand() % MAX_PHERO_INTENSITY;
MAP_POS(_y, _x) = MAP_POS(_y, _x) > MAX_PHERO_INTENSITY ? MAX_PHERO_INTENSITY : MAP_POS(_y, _x);
valid = true;
}
} sem_post(&map_semaphore);
iters++;
if(iters > MAX_ITERS)
break;
} while(!valid);
}
void PheromoneMap::s_evaporate() {
unsigned char p_eva;
clock_t now = clock();
if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.05) {
if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.09) {
return;
}
then = now;
sem_wait(&map_semaphore); {
for(unsigned i = 1; i < m_height - 1; i++) {
for(unsigned j = 1; j < m_width - 1; j++) {
if(MAP_POS(i, j) >= MIN_PHERO_INTENSITY) {
for(unsigned i = 0; i < m_height; i++) {
for(unsigned j = 0; j < m_width; j++) {
if(MAP_POS(i, j) <= MAX_PHERO_INTENSITY) {
p_eva = MAP_POS(i, j) * EVAPORATION_RATE;
MAP_POS(i, j) -= p_eva;
MAP_POS(i, j) = MAP_POS(i, j) < 0 ? 0 : MAP_POS(i, j);
}
}
}
@@ -143,15 +182,12 @@ void PheromoneMap::s_evaporate() {
}
void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius) {
float _x = x;
float _y = y;
float dist;
float cos_theta;
float ang;
glm::vec2 v;
glm::vec2 vp;
glm::vec3 line;
glm::vec3 v3d;
unsigned int index;
float dist;
float cos_theta;
float ang;
glm::vec2 v, vp;
glm::vec3 line, v3d;
if(sensor == NULL)
return;
@@ -162,27 +198,32 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
v = glm::normalize(v);
sem_wait(&map_semaphore); {
for(unsigned i = 1; i < m_height - 1; i++) {
for(unsigned j = 1; j < m_width - 1; j++) {
vp = glm::vec2(j/float(m_width), 1.0f - (i/float(m_height))) - glm::vec2(_x, _y);
for(unsigned i = 0; i < m_height; i++) {
for(unsigned j = 0; j < m_width; j++) {
vp = glm::vec2(j/float(m_width), 1.0f - (i/float(m_height))) - glm::vec2(x, y);
dist = glm::length(vp);
vp = glm::normalize(vp);
cos_theta = glm::dot(vp, v);
if(cos_theta > 0.0f && dist <= radius) {
ang = acos(cos_theta);
cos_theta = cos_theta > 1.0f ? 1.0f : cos_theta;
ang = PlayerCc::rtod(acos(cos_theta));
line = glm::vec3(v.x, v.y, 0.0f);
v3d = glm::vec3(vp.x, vp.y, 0.0f);
if(side(line, v3d) > 0) {
assert(static_cast<unsigned int>(90.0f - ang) <= 90);
sensor->samples[static_cast<unsigned int>(90.0f - ang)] += MAP_POS(i, j);
sensor->sample_amnt[static_cast<unsigned int>(90.0f - ang)] += 1;
//MAP_POS(i, j) = MAX_PHERO_INTENSITY;
index = static_cast<unsigned int>((NUM_PHERO_SAMPLES / 2.0f) - ang);
index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index;
if(MAP_POS(i, j) > sensor->samples[index]) {
sensor->samples[index] += MAP_POS(i, j);
sensor->sample_amnt[index] += 1;
}
} else {
assert(static_cast<unsigned int>(90.0f + ang) < 180);
sensor->samples[static_cast<unsigned int>(90.0f + ang)] += MAP_POS(i, j);
sensor->sample_amnt[static_cast<unsigned int>(90.0f + ang)] += 1;
//MAP_POS(i, j) = MAX_PHERO_INTENSITY;
index = static_cast<unsigned int>((NUM_PHERO_SAMPLES / 2.0f) + ang);
index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index;
if(MAP_POS(i, j) > sensor->samples[index]) {
sensor->samples[index] += MAP_POS(i, j);
sensor->sample_amnt[index] += 1;
}
}
} else
continue;
@@ -190,7 +231,8 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
}
} sem_post(&map_semaphore);
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
sensor->samples[i] = (sensor->sample_amnt[i] > 0) ? (sensor->samples[i] / sensor->sample_amnt[i]) : 0.0f;
}
}
}

16
pheromone.hpp
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@@ -53,17 +53,6 @@ typedef struct PHERO_SENSOR {
}
}
void set_probabilities() {
float phero_sum = 0.0f;
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
phero_sum += samples[i];
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
probs[i] = 1.0f / (samples[i] / phero_sum);
}
}
float operator[](unsigned int index) {
if(index >= NUM_PHERO_SAMPLES)
return -1.0f;
@@ -78,12 +67,13 @@ public:
~PheromoneMap();
GLuint s_build_texture();
bool s_deposit_pheromone(float x, float y);
void s_deposit_pheromone(float x, float y, float yaw, float radius);
void s_evaporate();
void s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius);
private:
unsigned char * data;
int * data;
unsigned char * tex_data;
unsigned m_width;
unsigned m_height;
unsigned char m_bpp;