80 lines
3.0 KiB
Python
80 lines
3.0 KiB
Python
#!/usr/bin/env python3
|
|
# -*- encoding: utf-8 -*-
|
|
import math
|
|
import sys
|
|
import time
|
|
|
|
import matplotlib.pyplot as plt
|
|
import numpy as np
|
|
from mpl_toolkits.axes_grid1 import make_axes_locatable
|
|
|
|
|
|
from robowaiter.algos.navigate.DstarLite.dstar_lite import DStarLite
|
|
|
|
class Navigator:
|
|
'''
|
|
导航类
|
|
'''
|
|
|
|
def __init__(self, scene, area_range, map, scale_ratio=5):
|
|
self.scene = scene
|
|
self.area_range = area_range # 地图实际坐标范围 xmin, xmax, ymin, ymax
|
|
self.map = map # 缩放并离散化的地图 array(X,Y)
|
|
self.scale_ratio = scale_ratio # 地图缩放率
|
|
self.step_length = 50 # 步长(单次移动)
|
|
self.step_num = self.step_length // self.scale_ratio # 单次移动地图格数
|
|
self.v = 200 # 速度
|
|
self.step_time = self.step_length/self.v + 0.1 # 单步移动时长
|
|
|
|
|
|
self.planner = DStarLite(area_range=area_range, map=map, scale_ratio=scale_ratio)
|
|
|
|
|
|
@staticmethod
|
|
def is_reached(pos: np.array((float, float)), goal: np.array((float, float)), dis_limit=25):
|
|
'''
|
|
判断是否到达目标
|
|
'''
|
|
dis = np.linalg.norm(pos - goal)
|
|
return dis < dis_limit
|
|
|
|
def reset_goal(self, goal:(float, float)):
|
|
# TODO: 使目标可达
|
|
# 目标在障碍物上：从目标开始方形向外扩展，直到找到可行点
|
|
# 目标在地图外面：起点和目标连线最靠近目标的可行点
|
|
pass
|
|
|
|
def navigate(self, goal: (float, float), animation=True):
|
|
'''
|
|
单次导航，直到到达目标
|
|
'''
|
|
|
|
pos = np.array((self.scene.status.location.X, self.scene.status.location.Y)) # 机器人当前: 位置 和 朝向
|
|
yaw = self.scene.status.rotation.Yaw
|
|
print('------------------navigation_start----------------------')
|
|
while not self.is_reached(pos, goal):
|
|
dyna_obs = [(walker.pose.X, walker.pose.Y) for walker in self.scene.status.walkers] # 动态障碍物(顾客)位置列表
|
|
path = self.planner.planning(pos, goal, dyna_obs, step_num=self.step_num)
|
|
if path:
|
|
next_step = min(self.step_num, len(path))
|
|
(next_x, next_y) = path[next_step-1]
|
|
print('plan pos:', (next_x, next_y), end=' ')
|
|
scene_info = self.scene.walk_to(next_x, next_y, yaw, velocity=self.v)
|
|
yaw = scene_info.rotation.Yaw
|
|
|
|
if animation:
|
|
self.planner.draw_graph(self.step_num) # 画出搜索路径
|
|
# time.sleep(self.step_time)
|
|
pos = np.array((self.scene.status.location.X, self.scene.status.location.Y))
|
|
print('reach pos:', pos)
|
|
|
|
self.planner.reset() # 完成一轮导航，重置变量
|
|
|
|
if self.is_reached(pos, goal):
|
|
print('The robot has achieved goal !!')
|
|
|
|
|
|
|
|
|
|
|