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tryPram_1.m
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% Berk tryPram_1 2019/1/25
function tryPram_1()
clear;clc;
disp('Program started');
% vrep=remApi('remoteApi','extApi.h'); % using the header (requires a compiler)
vrep=remApi('remoteApi'); % using the prototype file (remoteApiProto.m)
vrep.simxFinish(-1); % just in case, close all opened connections
clientID=vrep.simxStart('127.0.0.1',19997,true,true,5000,5);
if (clientID>-1)
disp('Connected to remote API server');
% start the simulation:
%%
%initialization
tic
vrep.simxSynchronous(clientID,true);
vrep.simxStartSimulation(clientID,vrep.simx_opmode_blocking);
kP1 = 5;
kI1 = 0.2;
kD1 = 0;
kP2 = 10; %default = 7
kI2 = 0;
kD2 = 0.2;
%Braitenberg weights
leftBraitWeight = 1.2*[0.45, -0.2, 0.4, -0.15, 0.3, -0.05, 0.3, -0.5];
rightBraitWeight = 1.2*[-0.2, 0.45, -0.15, 0.4, -0.05, 0.3, -0.5, 0.3];
count = 0;
state = 0;
turnFlag = zeros(2,1);
dt = 0.01; %time step = 10ms
simTime = 0;
diamWheel = 0.1;
unitVel = 2/diamWheel; %1/(pi*diamWheel)*(2*pi)
maxVel = 2*unitVel; %indoor mode maxVel = 1.5m/s; outdoor mode maxVel = 2m/s.
maxAcc = 10*unitVel*dt;
keepDist = 1.5;
avoidDist = 0.5;
pastLeftVel = 0;
pastRightVel = 0;
leftVel = 0;
rightVel = 0;
% tarLineVel = zeros(1,3);
% tarAngVel = zeros(1,3);
tipLineVel = zeros(1,3);
tipAngVel = zeros(1,3);
realPos = zeros(1,3);
% posIntegral = zeros(1,3);
% posDiff = zeros(1,3);
pastDist = 0;
dist = 0;
distIntegral = 0;
distDiff = 0;
pastTheta = 0;
theta = 0;
thetaIntegral = 0;
thetaDiff = 0;
proxNum = 8;
proxState = zeros(proxNum,1);
proxCoord = zeros(proxNum,3);
proxDist = zeros(proxNum,1);
pastProxDist = zeros(proxNum,1);
pastIndex = ones(proxNum,1);
tempWalkVel = zeros(100,1);
pastWalkVel = 0;
walkVel = 0;
wallFlag = 0;
Q = 0.0001*eye(2);
R = 0.001*eye(2);
A = eye(2);
H = eye(2);
n = size(Q);
m = size(R);
z = zeros(2,1);
xhat = zeros(2,1);
xhatminus = zeros(2,1);
P = [1 0;0 1];
Pminus = zeros(n);
K = zeros(n(1),m(1));
I = eye(n);
pos = zeros(2,1);
[res,leftMotor] = vrep.simxGetObjectHandle(clientID,'leftMotor',vrep.simx_opmode_blocking);
[res,rightMotor] = vrep.simxGetObjectHandle(clientID,'rightMotor',vrep.simx_opmode_blocking);
[res,tip] = vrep.simxGetObjectHandle(clientID,'tip',vrep.simx_opmode_blocking);
[res,tar] = vrep.simxGetObjectHandle(clientID,'tar',vrep.simx_opmode_blocking);
[res,proxSensor(1)] = vrep.simxGetObjectHandle(clientID,'sensor_f_l',vrep.simx_opmode_blocking);
[res,proxSensor(2)] = vrep.simxGetObjectHandle(clientID,'sensor_f_r',vrep.simx_opmode_blocking);
[res,proxSensor(3)] = vrep.simxGetObjectHandle(clientID,'sensor_l_f',vrep.simx_opmode_blocking);
[res,proxSensor(4)] = vrep.simxGetObjectHandle(clientID,'sensor_r_f',vrep.simx_opmode_blocking);
[res,proxSensor(5)] = vrep.simxGetObjectHandle(clientID,'sensor_l_b',vrep.simx_opmode_blocking);
[res,proxSensor(6)] = vrep.simxGetObjectHandle(clientID,'sensor_r_b',vrep.simx_opmode_blocking);
[res,proxSensor(7)] = vrep.simxGetObjectHandle(clientID,'sensor_d_l',vrep.simx_opmode_blocking);
[res,proxSensor(8)] = vrep.simxGetObjectHandle(clientID,'sensor_d_r',vrep.simx_opmode_blocking);
vrep.simxSynchronousTrigger(clientID);
vrep.simxGetObjectPosition(clientID,tar,tip,vrep.simx_opmode_streaming);
vrep.simxGetObjectPosition(clientID,tar,-1,vrep.simx_opmode_streaming);
vrep.simxGetObjectPosition(clientID,tip,-1,vrep.simx_opmode_streaming);
for i = 1:proxNum
vrep.simxReadProximitySensor(clientID,proxSensor(i),vrep.simx_opmode_streaming);
end
vrep.simxGetObjectVelocity(clientID,tar,vrep.simx_opmode_streaming);
vrep.simxGetObjectVelocity(clientID,tip,vrep.simx_opmode_streaming);
vrep.simxSynchronousTrigger(clientID);
%%
%start loop
while toc < 2000
simTime = simTime + dt;
pastDist = dist;
pastTheta = theta;
[res,realPos] = vrep.simxGetObjectPosition(clientID,tar,tip,vrep.simx_opmode_buffer);
z = realPos(1:2)' + sqrtm(R)*randn(2,1); %add sensor noise
%call Kalman filter
xhatminus = A*xhat+sqrtm(Q);
Pminus = A*P*A'+Q;
K = Pminus*H'*inv( H*Pminus*H'+R );
xhat = xhatminus+K*(z-H*xhatminus);
P = (I-K*H)*Pminus;
pos(1) = xhat(1);
pos(2) = xhat(2);
% pos(1) = z(1); %without Kalman
% pos(2) = z(2); %without Kalman
% plot(simTime,realPos(1),'ro');hold on
% plot(simTime,z(1),'b+');
% plot(simTime,pos(1),'g*');
% [res,tarLineVel,tarAngVel] = vrep.simxGetObjectVelocity(clientID,tar,vrep.simx_opmode_buffer)
% [res,tipLineVel,tipAngVel] = vrep.simxGetObjectVelocity(clientID,tip,vrep.simx_opmode_buffer);
dist = sqrt(pos(1)^2 + pos(2)^2);
distIntegral = integrator(distIntegral,dist-keepDist,maxVel);
distDiff = derivator(pastDist,dist,dt,maxVel);
theta = atan2(pos(2),pos(1));
thetaIntegral = integrator(thetaIntegral,theta,maxVel);
thetaDiff = derivator(pastTheta,theta,dt,maxVel);
[walkVel,tempWalkVel,pastWalkVel] = getWalkVel(tempWalkVel,pastWalkVel,dist,pastDist,dt,(leftVel+rightVel)/2/unitVel);
for i = 1:proxNum
[res,proxState(i),proxCoord(i,:)] = vrep.simxReadProximitySensor(clientID,proxSensor(i),vrep.simx_opmode_buffer);
end
if proxState(7) ~= 0
proxState(7) = 0;
else
proxState(7) = 1;
end
if proxState(8) ~= 0
proxState(8) = 0;
else
proxState(8) = 1;
end
vrep.simxSetObjectPosition(clientID,tar,-1,[6*cos(0.2*simTime)+0.06*cos(4*pi*simTime);9*sin(0.1*simTime+1)+0.09*sin(4*pi*simTime+1);0.2],vrep.simx_opmode_oneshot);
% vrep.simxSetObjectPosition(clientID,tar,-1,[3;10-simTime+0.02*cos(4*pi*simTime);0.2],vrep.simx_opmode_oneshot);
% vrep.simxSetObjectPosition(clientID,tar,-1,[6.6*cos(0.2*simTime)+0.066*cos(4*pi*simTime);9.9*sin(0.1*simTime+1)+0.099*sin(4*pi*simTime+1);0.2],vrep.simx_opmode_oneshot);
switch state
case 0
if proxState == [0;0;0;0;0;0;0;0]
% leftVel = walkVel*unitVel + kP1*(dist - keepDist) + kI1*distIntegral + kD1*distDiff - kP2*theta*(pastLeftVel+pastRightVel)^2/dist - kI2*thetaIntegral - kD2*thetaDiff;
% rightVel = walkVel*unitVel + kP1*(dist - keepDist) + kI1*distIntegral + kD1*distDiff + kP2*theta*(pastLeftVel+pastRightVel)^2/dist + kI2*thetaIntegral - kD2*thetaDiff;
leftVel = walkVel*unitVel + kP1*(dist - keepDist) + kI1*distIntegral + kD1*distDiff - kP2*theta - kI2*thetaIntegral - kD2*thetaDiff;
rightVel = walkVel*unitVel + kP1*(dist - keepDist) + kI1*distIntegral + kD1*distDiff + kP2*theta + kI2*thetaIntegral - kD2*thetaDiff;
[leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,leftVel,rightVel,maxVel,maxAcc);
elseif proxState(1) == 1 && proxState(2) == 1
disp('hesitate!');
if theta > 0
turnFlag(2) = 1;
leftVel = -0.5*unitVel;
rightVel = 0.1 * unitVel;
else
turnFlag(2) = -1;
leftVel = 0.1 * unitVel;
rightVel = -0.5*unitVel;
end
[leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,leftVel,rightVel,0.5*maxVel,maxAcc);
distIntegral = 0;
thetaIntegral = 0;
state = 3;
else
for i = 1:2
if proxState(i) == 0
proxDist(i) = avoidDist;
else
proxDist(i) = 0.5*proxCoord(i,3);
end
if proxDist(i) > pastProxDist(i)
pastIndex = 8;
else
pastIndex = 1;
end
end
for i = 3:6
if proxState(i) == 0
proxDist(i) = avoidDist;
else
proxDist(i) = 1*proxCoord(i,3);
end
if proxDist(i) > pastProxDist(i)
pastIndex = 8;
else
pastIndex = 1;
end
end
for i = 7:8
if proxState(i) == 0
proxDist(i) = avoidDist;
else
proxDist(i) = 0;
end
end
if proxState == [0;0;1;0;0;0;0;0] & theta > 0
wallFlag = wallFlag + 1;
elseif proxState == [0;0;0;1;0;0;0;0] & theta < 0
wallFlag = wallFlag - 1;
end
if abs(wallFlag)>10
state = 4;
end
pastProxDist = proxDist;
% leftVel = pastLeftVel + maxAcc*leftBraitWeight*((1-(proxDist/avoidDist)).^pastIndex);
% rightVel = pastRightVel + maxAcc*rightBraitWeight*((1-(proxDist/avoidDist)).^pastIndex);
leftVel = walkVel+pastLeftVel + maxAcc*leftBraitWeight*((1-(proxDist/avoidDist)).^pastIndex);
rightVel = walkVel+pastRightVel + maxAcc*rightBraitWeight*((1-(proxDist/avoidDist)).^pastIndex);
if proxState(7) == 1 || proxState(8) == 1
[leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,leftVel,rightVel,0.25*maxVel,maxAcc);
else
[leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,leftVel,rightVel,0.5*maxVel,maxAcc);
end
distIntegral = 0;
thetaIntegral = 0;
end
if abs(dist - keepDist) < 0.1 && walkVel == 0
state = 1;
distIntegral = 0;
end
case 1
if proxState == [0;0;0;0;0;0;0;0]
leftVel = -kP2*theta - kI2*thetaIntegral - kD2*thetaDiff;
rightVel = kP2*theta + kI2*thetaIntegral - kD2*thetaDiff;
else
leftVel = 0;
rightVel = 0;
end
[leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,leftVel,rightVel,0.5*maxVel,maxAcc);
distIntegral = 0;
if abs(dist - keepDist) >= 0.2
state = 0;
elseif abs(dist - keepDist) < 0.2 && abs(theta) < 0.05
state = 2;
thetaIntegral = 0;
end
case 2
leftVel = 0;
rightVel = 0;
distIntegral = 0;
thetaIntegral = 0;
if abs(dist - keepDist) >= 0.2 || abs(theta) >= 0.05
state = 0;
end
[leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,leftVel,rightVel,0.5*maxVel,maxAcc);
case 3
if turnFlag(2) > 0
if proxState(3) == 1 || proxState(5) == 1
turnFlag(2) = -1;
leftVel = 0.2*unitVel;
rightVel = -0.25*unitVel;
else
leftVel = -0.25*unitVel;
rightVel = 0.2*unitVel;
end
else
if proxState(4) == 1 || proxState(6) == 1
turnFlag(2) = 1;
leftVel = -0.25*unitVel;
rightVel = 0.2*unitVel;
else
leftVel = 0.2*unitVel;
rightVel = -0.25*unitVel;
end
end
[leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,leftVel,rightVel,0.5*maxVel,maxAcc);
disp('still hesitate!');
turnFlag(1) = turnFlag(1) +1;
distIntegral = 0;
thetaIntegral = 0;
if proxState(1:2) ~= [1;1]
turnFlag(1) = turnFlag(1)+150;
end
if turnFlag(1) > 1000
turnFlag(1) = 0;
state = 0;
end
case 4 %wallFollow
if wallFlag > 0
leftVel = walkVel*unitVel + kP1*(dist - keepDist) + kI1*distIntegral + kD1*distDiff - 5*(proxCoord(3,3) - 0.4);
rightVel = walkVel*unitVel + kP1*(dist - keepDist) + kI1*distIntegral + kD1*distDiff + 5*(proxCoord(3,3) - 0.4);
if sum(proxState == [0;0;1;0;0;0;0;0]) ~= 8 || theta < 0
state = 0;
wallFlag = 0;
end
elseif wallFlag < 0
leftVel = walkVel*unitVel + kP1*(dist - keepDist) + kI1*distIntegral + kD1*distDiff + 5*(proxCoord(4,3) - 0.4);
rightVel = walkVel*unitVel + kP1*(dist - keepDist) + kI1*distIntegral + kD1*distDiff - 5*(proxCoord(4,3) - 0.4);
if sum(proxState == [0;0;0;1;0;0;0;0]) ~= 8 || theta > 0
state = 0;
wallFlag = 0;
end
disp('wall follow');
end
[leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,leftVel,rightVel,maxVel,maxAcc);
% break
end
vrep.simxSetJointTargetVelocity(clientID,leftMotor,leftVel,vrep.simx_opmode_oneshot);
vrep.simxSetJointTargetVelocity(clientID,rightMotor,rightVel,vrep.simx_opmode_oneshot);
pastLeftVel = leftVel;
pastRightVel = rightVel;
count=count+1;
% pause(0.01);
vrep.simxSynchronousTrigger(clientID);
end
%%
fprintf('cycles: %d\n',count);
% stop the simulation:
vrep.simxStopSimulation(clientID,vrep.simx_opmode_blocking);
% Now close the connection to V-REP:
vrep.simxFinish(clientID);
else
disp('Failed connecting to remote API server');
end
vrep.delete(); % call the destructor!
disp('Program ended');
end
function matureData = integrator(accum, rawData ,bound)
matureData = accum + rawData;
for i = 1:length(matureData)
if matureData(i) > bound
matureData(i) = bound;
elseif matureData(i) < -bound
matureData(i) = -bound;
end
end
end
function resultData = derivator(pastData, presentData ,timeStep,bound)
resultData = (presentData-pastData)/timeStep;
for i = 1:length(pastData)
if resultData(i) > bound
resultData(i) = bound;
elseif resultData(i) < 0
resultData(i) = 0;
end
end
end
%motor speed limitation
function [leftVel,rightVel] = velLimit(pastLeftVel,pastRightVel,tempLeftVel,tempRightVel,maxVel,maxAcc)
% if tempLeftVel-pastLeftVel > maxAcc
% tempLeftVel = pastLeftVel + maxAcc;
% disp('lal');
% elseif tempLeftVel-pastLeftVel < -maxAcc
% tempLeftVel = pastLeftVel - maxAcc;
% disp('lal');
% end
% if tempRightVel-pastRightVel > maxAcc
% tempRightVel = pastRightVel + maxAcc;
% disp('ral');
% elseif tempRightVel-pastRightVel < -maxAcc
% tempRightVel = pastRightVel - maxAcc;
% disp('ral');
% end
if tempLeftVel == 0 && tempRightVel == 0
leftVel = 0;
rightVel = 0;
else
vel1 = max(tempLeftVel,tempRightVel);
vel2 = min(tempLeftVel,tempRightVel);
if vel1 > maxVel && abs(vel2) < vel1
vel2 = maxVel*vel2/vel1;
vel1 = maxVel;
elseif vel2 < -maxVel && abs(vel2) >= vel1
vel1 = maxVel*vel1/abs(vel2);
vel2 = -maxVel;
end
if tempLeftVel >= tempRightVel
leftVel = vel1;
rightVel = vel2;
else
leftVel = vel2;
rightVel = vel1;
end
end
if leftVel-pastLeftVel > maxAcc
leftVel = pastLeftVel + maxAcc;
% disp('lal');
elseif leftVel-pastLeftVel < -maxAcc
leftVel = pastLeftVel - maxAcc;
% disp('lal');
end
if rightVel-pastRightVel > maxAcc
rightVel = pastRightVel + maxAcc;
% disp('ral');
elseif rightVel-pastRightVel < -maxAcc
rightVel = pastRightVel - maxAcc;
% disp('ral');
end
end
%limit-range recursive average filtering to get walk speed
%First order low pass filtering
function [walkVel,tempWalkVel,pastWalkVel] = getWalkVel(tempWalkVel,pastWalkVel,dist,pastDist,timeStep,pramVel)
for i = 1:9
tempWalkVel(i) = tempWalkVel(i+1);
end
tempWalkVel(10) = (dist - pastDist) / timeStep + pramVel;
if abs(tempWalkVel(10)-pastWalkVel) > 10
tempWalkVel(10) = tempWalkVel(9);
end
aveWalkVel = sum(tempWalkVel)/10;
walkVel = 0.99*pastWalkVel + 0.01*aveWalkVel;
if walkVel < 0.01
walkVel = 0;
end
pastWalkVel = walkVel;
end