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costfun to minimize v^2+b^2w^2

diffdrive-costfun
EmaMaker 2024-10-11 18:05:44 +02:00
parent 423a424be6
commit 87df77e9b0
4 changed files with 44 additions and 28 deletions
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20
control_act.m
View File

@ -32,14 +32,22 @@ function [u_corr, U_corr_history, q_pred] = ucorr(t, q, sim_data)
elseif eq(pred_hor, 1) elseif eq(pred_hor, 1)
if eq(sim_data.costfun, 1) if eq(sim_data.costfun, 1)
% minimize vcorr_r^2 + wcorr_l^2 % minimize vcorr_r^2 + wcorr_l^2
H = eye(2); H = eye(2);
elseif eq(sim_data.costfun, 2) elseif eq(sim_data.costfun, 2)
% ex1: minimize v=r(wr+wl)/2 % ex1: minimize v=r(wr+wl)/2
H = sim_data.r*sim_data.r*0.5*ones(2,2); H = sim_data.r*sim_data.r*0.5*ones(2,2);
elseif eq(sim_data.costfun, 3) elseif eq(sim_data.costfun, 3)
% ex2: minimize w=r(wr-wl)/d % ex2: minimize w=r(wr-wl)/d
H = sim_data.r*sim_data.r*2*[1, -1; -1, 1]/(sim_data.d*sim_data.d); H = sim_data.r*sim_data.r*2*[1, -1; -1, 1]/(sim_data.d*sim_data.d);
elseif eq(sim_data.costfun, 4)
rr = sim_data.r*sim_data.r;
dd = sim_data.d*sim_data.d;
bb = sim_data.b*sim_data.b;
H1 = rr*ones(2)/4;
H2 = bb*rr*[1 -1; -1 1]/dd;
H = 2 * (H1 + H2);
end end
f = zeros(2,1); f = zeros(2,1);

2
plot_trajectory.m
View File

@ -5,7 +5,7 @@ function tl = plot_trajectory(t, ref, x)
hold on hold on
grid minor grid minor
label_interval = 1:1800:length(x); label_interval = 1:5000:length(x);
labels = strcat(num2str(round(t(label_interval),1)), "s"); labels = strcat(num2str(round(t(label_interval),1)), "s");
%title("Reference trajectory / Robot position", "FontSize", 18) %title("Reference trajectory / Robot position", "FontSize", 18)

4
tesi.m
View File

@ -29,14 +29,14 @@ for i = 1:length(TESTS)
[ref dref] = set_trajectory(sim_data.TRAJECTORY, sim_data); [ref dref] = set_trajectory(sim_data.TRAJECTORY, sim_data);
sim_data.ref = ref; sim_data.ref = ref;
sim_data.dref = dref; sim_data.dref = dref;
sim_data.costfun=2 sim_data.costfun=4
sim_data.tc=0.05; sim_data.tc=0.05;
% spawn a new worker for each controller % spawn a new worker for each controller
% 1: track only % 1: track only
% 2: track + 1step % 2: track + 1step
% 3: track + multistep % 3: track + multistep
spmd (3) spmd (2)
worker_index = spmdIndex; worker_index = spmdIndex;
% load controller-specific options % load controller-specific options
data = load(['tests/' num2str(worker_index) '.mat']); data = load(['tests/' num2str(worker_index) '.mat']);

46
video_all.m
View File

@ -5,25 +5,33 @@ disp('Waiting 5s')
pause(1) pause(1)
PLOT_TESTS = [ PLOT_TESTS = [
"results-diffdrive/straightline/chill/11-09-2024-16-57-01"; "results-diffdrive-costfun-ddronly/circle/start_center/ddr-minv-activeset-chattering"
"results-diffdrive/straightline/chill_errortheta_pisixths/11-09-2024-16-57-43"; "results-diffdrive-costfun-ddronly/circle/start_center/ddr-minw-activeset-chattering"
"results-diffdrive/straightline/chill_errory/11-09-2024-16-59-04"; "results-diffdrive-costfun-ddronly/circle/start_center/09-10-2024-14-14-49"
"results-diffdrive/straightline/toofast/11-09-2024-16-58-24"; "results-diffdrive-costfun/circle/start_center/ddr-minv-Rtinv-asymH-tc05"
"results-diffdrive/circle/start_center/11-09-2024-16-59-50"; "results-diffdrive-costfun/circle/start_center/ddr-minw-Rtinv-asymH-tc05"
"results-diffdrive/square/11-09-2024-17-06-14"; "results-unicycle-costfun/circle/start_center/uni-minv-Rtinv-tc05"
"results-diffdrive/figure8/chill/11-09-2024-17-00-53"; "results-unicycle-costfun/circle/start_center/uni-minw-Rtinv-tc05"
%"results-diffdrive/figure8/fancyreps/11-09-2024--45-28";
"results-diffdrive/figure8/toofast/11-09-2024-17-01-43";
"results-unicycle/straightline/chill/11-09-2024-17-07-51"; %"results-diffdrive/straightline/chill/11-09-2024-16-57-01";
"results-unicycle/straightline/chill_errortheta_pisixths/11-09-2024-17-08-35"; %"results-diffdrive/straightline/chill_errortheta_pisixths/11-09-2024-16-57-43";
"results-unicycle/straightline/chill_errory/11-09-2024-17-10-00"; %"results-diffdrive/straightline/chill_errory/11-09-2024-16-59-04";
"results-unicycle/straightline/toofast/11-09-2024-17-09-18"; %"results-diffdrive/straightline/toofast/11-09-2024-16-58-24";
"results-unicycle/circle/start_center/11-09-2024-17-10-48"; %"results-diffdrive/circle/start_center/11-09-2024-16-59-50";
"results-unicycle/square/11-09-2024-17-17-21"; %"results-diffdrive/square/11-09-2024-17-06-14";
"results-unicycle/figure8/chill/11-09-2024-17-11-53"; %"results-diffdrive/figure8/chill/11-09-2024-17-00-53";
%"results-diffdrive/figure8/fancyreps/11-09-2024--45-28";
%"results-diffdrive/figure8/toofast/11-09-2024-17-01-43";
%"results-unicycle/straightline/chill/11-09-2024-17-07-51";
%"results-unicycle/straightline/chill_errortheta_pisixths/11-09-2024-17-08-35";
%"results-unicycle/straightline/chill_errory/11-09-2024-17-10-00";
%"results-unicycle/straightline/toofast/11-09-2024-17-09-18";
%"results-unicycle/circle/start_center/11-09-2024-17-10-48";
%"results-unicycle/square/11-09-2024-17-17-21";
%"results-unicycle/figure8/chill/11-09-2024-17-11-53";
%"results-unicycle/figure8/fancyreps/11-09-2024--45-28"; %"results-unicycle/figure8/fancyreps/11-09-2024--45-28";
"results-unicycle/figure8/toofast/11-09-2024-17-12-45"; %"results-unicycle/figure8/toofast/11-09-2024-17-12-45";
] ]
s_ = size(PLOT_TESTS) s_ = size(PLOT_TESTS)
@ -37,9 +45,9 @@ for i = 1:s_(1)
dir = ['videos-' ROBOT '/', sPLOT_TEST, '/'] dir = ['videos-' ROBOT '/', sPLOT_TEST, '/']
mkdir(dir); mkdir(dir);
close all; pause(2); video(q{1}', ref_t{1}', Q_pred{1}, U_track{1}, U_corr{1}, 0, 0.12, t{1}, 4, sim_data{1}.tc*0.25, "track only"); %close all; pause(2); video(q{1}', ref_t{1}', Q_pred{1}, U_track{1}, U_corr{1}, 0, 0.12, t{1}, 4, sim_data{1}.tc*0.25, "track only");
close all; pause(2); video(q{2}', ref_t{2}', Q_pred{2}, U_track{2}, U_corr{2}, 1, 0.12, t{2}, 4, sim_data{2}.tc*0.25, "track and 1-step"); close all; pause(2); video(q{2}', ref_t{2}', Q_pred{2}, U_track{2}, U_corr{2}, 1, 0.12, t{2}, 4, sim_data{2}.tc*0.25, "track and 1-step");
close all; pause(2); video(q{3}', ref_t{3}', Q_pred{3}, U_track{3}, U_corr{3}, 3, 0.12, t{3}, 4, sim_data{3}.tc*0.25, "track and multistep"); %close all; pause(2); video(q{3}', ref_t{3}', Q_pred{3}, U_track{3}, U_corr{3}, 3, 0.12, t{3}, 4, sim_data{3}.tc*0.25, "track and multistep");
%movefile("*.gif", dir); %movefile("*.gif", dir);
movefile("*.avi", dir); movefile("*.avi", dir);