233 lines
7.9 KiB
C++
233 lines
7.9 KiB
C++
/*************************************************************************************
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* Copyright (c) 2016, Miguel Angel Astor Romero *
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* All rights reserved. *
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* *
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* Redistribution and use in source and binary forms, with or without *
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* modification, are permitted provided that the following conditions are met: *
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* *
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* 1. Redistributions of source code must retain the above copyright notice, this *
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* list of conditions and the following disclaimer. *
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* 2. Redistributions in binary form must reproduce the above copyright notice, *
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* this list of conditions and the following disclaimer in the documentation *
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* and/or other materials provided with the distribution. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
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* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
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*************************************************************************************/
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#include <map>
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#include <limits>
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#include <cstdlib>
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#include <cmath>
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#include <sys/time.h>
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#include <sstream>
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#include "ias_robot.hpp"
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//#define PROB_MODEL_1
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static const float TURN_DEG_PER_SEC = 90.0f;
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static const float METERS_PER_SEC = 0.4f;
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static const long HALF_SECOND_USEC = 500000;
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static const double MIN_DIST_M = 1.0;
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static const double CRIT_DIST_M = 0.7;
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static const float MAP_SIZE = 16.0f;
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static const int PHERO_AMOUNT = 30;
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static const float PHERO_RADIUS = 1.4f;
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static const float SENSOR_RADIUS = 2.0f;
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static const float U_RATIO = 0.3f;
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static const float V_RATIO = 0.1f;
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static const float SMOOTHING_COEFF = 0.3f;
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static inline float random_num() {
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return (((static_cast<float>(rand() % 256) / 256.0) - 0.5f) * 2.0f ) * PHERO_RADIUS;
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}
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IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map) : Robot(hostname, port) {
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srand(port + time(NULL));
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_phero_map = phero_map;
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log("Creating IAS-SS robot");
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}
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IASSS_Robot::~IASSS_Robot() {
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log("Destroying IAS-SS robot");
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}
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void IASSS_Robot::run() {
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float x, y, steer = 0.0f;
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int rv;
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long then, now, delta, wait;
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struct timeval tv;
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double dist = std::numeric_limits<double>::infinity();
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_p_client->Read();
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rv = gettimeofday(&tv, NULL);
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then = tv.tv_usec;
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x = (_p_proxy->GetXPos() + (MAP_SIZE / 2)) / MAP_SIZE;
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y = (_p_proxy->GetYPos() + (MAP_SIZE / 2)) / MAP_SIZE;
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_phero_map->s_sample(&_phero_sensor, x, y, _p_proxy->GetYaw(), SENSOR_RADIUS / MAP_SIZE);
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steer += SMOOTHING_COEFF * brss();
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deposit_pheromone(x, y);
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/******************************************************************************
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* WALL AVOIDANCE START *
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******************************************************************************/
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// Check if there is something in front of the robot.
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for(int i = 89; i < 134; i++)
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dist = _r_proxy->GetRange(i) < dist ? _r_proxy->GetRange(i) : dist;
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if(dist < MIN_DIST_M && dist > CRIT_DIST_M) {
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avoid_wall(METERS_PER_SEC, TURN_DEG_PER_SEC);
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} else if(dist <= CRIT_DIST_M) {
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avoid_wall(0.0f, TURN_DEG_PER_SEC);
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} else
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_p_proxy->SetSpeed(METERS_PER_SEC, steer);
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/******************************************************************************
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* WALL AVOIDANCE END *
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******************************************************************************/
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rv = gettimeofday(&tv, NULL);
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now = tv.tv_usec;
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delta = now - then;
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// Sleep for a bit before finishing this control iteration.
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wait = rv == 0 ? HALF_SECOND_USEC - delta : HALF_SECOND_USEC;
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usleep(wait);
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}
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void IASSS_Robot::avoid_wall(float front_speed, float turn_speed) {
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double dist_l = 0.0;
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double dist_r = 0.0;
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for(unsigned int i = 0; i < 96; i++)
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dist_r += _r_proxy->GetRange(i);
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dist_r /= 96;
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for(unsigned int i = 126; i < _r_proxy->GetRangeCount(); i++)
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dist_l += _r_proxy->GetRange(i);
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dist_l /= (_r_proxy->GetRangeCount() - 126);
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if(dist_r >= dist_l)
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_p_proxy->SetSpeed(front_speed, PlayerCc::dtor(-turn_speed));
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else
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_p_proxy->SetSpeed(front_speed, PlayerCc::dtor(turn_speed));
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}
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void IASSS_Robot::deposit_pheromone(float x, float y) {
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for(int i = 0; i < PHERO_AMOUNT; i++)
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_phero_map->s_deposit_pheromone(x, y, _p_proxy->GetYaw(), PHERO_RADIUS / MAP_SIZE);
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}
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float IASSS_Robot::brss() {
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std::map<int, float> U, V;
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unsigned int i_min, i_max;
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float min, sample, prob, max, sum_uv = 0.0f, steer;
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// std::ostringstream oss;
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while(U.size() < (U_RATIO * NUM_PHERO_SAMPLES)) {
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min = std::numeric_limits<double>::max();
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i_min = 0;
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for(unsigned int i = NUM_PHERO_SAMPLES / 2; i < NUM_PHERO_SAMPLES; i++) {
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sample = _phero_sensor[i];
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if(U.find(i) == U.end()) {
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if(sample < min) {
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min = sample;
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i_min = i;
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}
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}
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}
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for(unsigned int i = NUM_PHERO_SAMPLES / 2; i > 0; i--) {
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sample = _phero_sensor[i];
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if(U.find(i) == U.end()) {
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if(sample < min) {
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min = sample;
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i_min = i;
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}
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}
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}
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U[i_min] = min;
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}
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while(V.size() < (V_RATIO * NUM_PHERO_SAMPLES)) {
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for(unsigned int i = NUM_PHERO_SAMPLES / 2; i < NUM_PHERO_SAMPLES; i++) {
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if(U.find(i) == U.end() && V.find(i) == V.end()) {
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prob = rand() % 100;
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if(prob < 15)
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V[i] = _phero_sensor[i];
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}
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}
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for(unsigned int i = NUM_PHERO_SAMPLES / 2; i > 0; i--) {
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if(U.find(i) == U.end() && V.find(i) == V.end()) {
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prob = rand() % 100;
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if(prob < 15)
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V[i] = _phero_sensor[i];
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}
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}
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}
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for(std::map<int, float>::iterator it = U.begin(); it != U.end(); ++it) {
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#ifdef PROB_MODEL_1
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sum_uv += it->second;
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#else
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sum_uv += 1.0f - it->second;
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#endif
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}
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for(std::map<int, float>::iterator it = V.begin(); it != V.end(); ++it) {
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#ifdef PROB_MODEL_1
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sum_uv += it->second;
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#else
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sum_uv += 1.0f - it->second;
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#endif
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}
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U.clear();
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V.clear();
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for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
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#ifdef PROB_MODEL_1
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_phero_sensor.probs[i] = 1.0f / (_phero_sensor[i] / sum_uv);
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#else
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_phero_sensor.probs[i] = (1.0f - _phero_sensor[i]) / (sum_uv);
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#endif
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}
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max = std::numeric_limits<double>::min();
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i_max = 0;
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for(unsigned int i = NUM_PHERO_SAMPLES / 2; i < NUM_PHERO_SAMPLES; i++) {
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if(_phero_sensor.probs[i] > max) {
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max = _phero_sensor.probs[i];
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i_max = i;
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}
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}
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for(unsigned int i = NUM_PHERO_SAMPLES / 2; i > 0; i--) {
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if(_phero_sensor.probs[i] > max) {
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max = _phero_sensor.probs[i];
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i_max = i;
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}
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}
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steer = (NUM_PHERO_SAMPLES / 2.0f) - i_max;
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// oss << "samples: " << std::endl;
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// for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
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// oss << "\tSAMPLE[" << i << "]: " << _phero_sensor[i] << " - " << _phero_sensor.sample_amnt[i] << " - " << _phero_sensor.probs[i] << std::endl;
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// oss << "\ti_max: " << i_max << " | Steer: " << steer;
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// log(oss.str());
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return steer;
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}
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