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test_common_goal.py
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# COLLISION AVOIDANCE MECHANISM
import numpy as np
import matplotlib.pyplot as plt
import logging
from arm import Arm
from velocity_control import *
from arm import Arm
logger = logging.getLogger(__name__)
logging.basicConfig()
logger.setLevel(logging.INFO)
INIT_VEL = 0.05 #controls speed of paths
INC_VEL = 0.06
COLLISION_RANGE = 1
def main():
animate = False
fig = plt.figure()
ax = plt.axes(projection='3d')
ax.set_xlabel('X, [m]')
ax.set_ylabel('Y, [m]')
ax.set_zlabel('Z, [m]')
ax.set_xlim([0,12])
ax.set_ylim([0,12])
ax.set_zlim([0,12])
# l1 = np.array([[0.0,0.0,0.0], [6.5,7.0,7.0], [9.0,1.0,2.0]])
# l2 = np.array([[2.0,0.0,3.0], [4.0,6.0,6.0], [5.0,4.0,4.0], [10.0,6.0,6.0]])
l1 = np.array([[0.0,0.0,0.0], [10.0,8.0,8.0]])
l2 = np.array([[2.0,0.0,3.0], [6.0,8.0,8.0], [10.0,8.0,8.0]]) #[11.0,6.0,7.0]
# initialize arms
# start at 1 pts of each lines, end at last pt of each line
arm1 = Arm(name="PSM1", position=l1[0], destination=l1[l1.shape[0]-1], velocity=INIT_VEL, home=l1[0])
arm2 = Arm(name="PSM2", position=l2[0], destination=l2[l2.shape[0]-1], velocity=INIT_VEL, home=l2[0])
plt.plot(l1[:,0], l1[:,1], l1[:,2], 'o', color='orange')
plt.plot(l2[:,0], l2[:,1], l2[:,2], 'o', color='blue')
# initialize paths
path1 = linear_interpolation(l1, INIT_VEL)
path2 = linear_interpolation(l2, INIT_VEL)
for i in range(l1.shape[0]-1):
ax.plot([l1[i,0], l1[i+1,0]], [l1[i,1], l1[i+1,1]], [l1[i,2], l1[i+1,2]], color = 'orange', linewidth=1, zorder=15)
for i in range(l2.shape[0]-1):
ax.plot([l2[i,0], l2[i+1,0]], [l2[i,1], l2[i+1,1]], [l2[i,2], l2[i+1,2]], color = 'blue', linewidth=1, zorder=15)
arm1.set_position(path1[0]) # start at pt. 0 of path1
arm2.set_position(path2[0]) # start at pt. 60 of path2
check_collision = True
arm1_collision, arm2_collision = np.empty(3), np.empty(3)
idx1 = 0
idx2 = 0
i = 0
while(path1.shape[0] != 0 or path2.shape[0] != 0):
# idx1 = i
# idx2 = i
if check_collision:
# check whether any pts in paths are within threshold
# get start index for path change (current arm pos)
intersect_pts1, intersect_pts2 = find_intersection(path1, path2)
if intersect_pts1.size > 0 and intersect_pts2.size > 0:
# now that we have the intersection zones in both paths, adjust speed and animate
# update current path ONLY to first OR last collision point, keep initial path post collision pt
print("COLLISION DETECTED")
arm1_collision = intersect_pts1[0]
arm2_collision = intersect_pts2[0]
print(arm1_collision, arm2_collision)
path1_col_idx = np.where(path1 == arm1_collision)[0][0]
path2_col_idx = np.where(path2 == arm2_collision)[0][0]
# choose whether to speed up arm nearest or furthest to goal
# update paths such that speed is inc/dec until collision point only
path1, path2 = update_velocity(p_fast=path1, p_slow=path2, vel=INC_VEL, idx_fast=path1_col_idx, idx_slow=path2_col_idx)
logger.info("INCREASED {} VELOCITY, DECREASED {} VELOCITY".format(arm1.get_name(), arm2.get_name()))
else:
# check whether common goal
if path1.shape[0] > 0 and path2.shape[0] > 0:
if euclidean_distance(path1[-1], path2[-1]) <= COLLISION_RANGE:
logger.info("ARMS MOVING TOWARD COMMON GOAL")
path1, path2 = common_goal_collision(path1, path2, arm1, arm2)
arm1_collision, arm2_collision = path1[-1], path2[-1]
check_collision = False
else:
# if at collision point, reset collisions, check collisions again
if (path1[0] == arm1_collision).all() or (path2[0] == arm2_collision).all():
print("RESETTING VELOCITY")
plt.plot(path1[0,0], path1[0,1], path1[0,2], 'o', color='yellow', markersize=5)
path1, path2 = update_velocity(p_fast=path1, p_slow=path2, vel=INIT_VEL)
arm1_collision, arm2_collision = np.empty(3), np.empty(3)
check_collision = True
# print("PLOTTING {}, {}".format(path1[0], path2[0]))
if idx1 < path1.shape[0]:
plt.plot(path1[0,0], path1[0,1], path1[0,2], 'o', color='red', markersize=1)
arm1.set_position(path1[0]) # start at pt. 0 of path1
path1 = np.delete(path1, 0, axis=0)
if idx2 < path2.shape[0]:
plt.plot(path2[0,0], path2[0,1], path2[0,2], 'o', color='red', markersize=1)
arm2.set_position(path2[0]) # start at pt. 60 of path2
path2 = np.delete(path2, 0, axis=0)
# i += 1
plt.pause(0.0005)
# run_path(new_path1, new_path2, arm1, arm2)
logger.info("INTERSECTIONS: {}".format(intersect_pts1))
plt.show()
def euclidean_distance(point1, point2):
distance = np.linalg.norm(point1-point2)
return distance
def avoid_collision(intersect_pts1, intersect_pts2, path1, path2, arm1, arm2):
# get start index for path change (current arm pos)
idx1 = np.where(path1 == arm1.get_position())[0][0] # get start index
idx2 = np.where(path2 == arm2.get_position())[0][0] # get start index
# if collision detected, adjust path velocities
if (intersect_pts1.shape[0] != 0) and (intersect_pts2.shape[0] != 0):
logger.info("COLLISION DETECTED!")
logger.debug("INTERSECTIONS: {}, SHAPE: {}".format(intersect_pts1, intersect_pts1.shape[0]))
# temp pre-set velocities:
# NOTE: start point of new paths is arm current location!! need to iter from 0 when plotting
new_path1, new_path2 = adjust_arm_velocity(path1, path2, vel1=0.07, vel=0.08)
# set new path and last collision point
logger.info("UPDATED VELOCITY FOR COLLISION AVOIDANCE")
print("Arm1: {}, Arm2: {}".format(0.07, 0.09))
else:
# reset paths velocities if no more intersections
logger.info("NO COLLISION DETECTED!")
new_path1, new_path2 = adjust_arm_velocity(path, path2, vel=INIT_VEL)
print("Arm1: {}, Arm2: {}".format(INIT_VEL, INIT_VEL))
# arm1_sm.set_path(new_path1, np.empty(3))
# arm2_sm.set_path(new_path2, np.empty(3))
return new_path1, new_path2
def run_path(path1, path2, arm1, arm2):
# check whether any pts in paths are within threshold
# idx1 = np.where(path1 == arm1.get_position())[0][0] # get start index
# idx2 = np.where(path2 == arm2.get_position())[0][0] # get start index
idx1 = 0
idx2 = 0
# path_range = min(path1[idx1:,:].shape[0], path2[idx2:,:].shape[0]) # get minimum of both remaining paths
# print("PATH RANGES: {}, {}".format(path1[idx1:,:].shape[0], path2[idx2:,:].shape[0]))
intersect1 = []
intersect2 = []
i = 0
while(idx1 != path1[idx1:,:].shape[0] or idx2 != path2[idx2:,:].shape[0]):
# idx1 = np.where(path1 == arm1.get_position())[0][0] + i
# idx2 = np.where(path2 == arm2.get_position())[0][0] + i
idx1 = i
idx2 = i
if idx1 < path1.shape[0]:
plt.plot(path1[idx1,0], path1[idx1,1], path1[idx1,2], 'o', color='red', markersize=1)
if idx2 < path2.shape[0]:
plt.plot(path2[idx2,0], path2[idx2,1], path2[idx2,2], 'o', color='red', markersize=1)
i += 1
plt.pause(0.0005)
plt.show()
if __name__ == '__main__':
main()