95 lines
3.6 KiB
Python
95 lines
3.6 KiB
Python
#!/usr/bin/env python3
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# -*- encoding: utf-8 -*-
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import math
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from robowaiter.algos.navigate.dstar_lite import DStarLite, euclidean_distance
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class Navigator:
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'''
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导航类
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'''
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def __init__(self, scene, area_range, map, scale_ratio=5, step_length=150, velocity=150, react_radius=250):
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self.scene = scene
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self.area_range = area_range # 地图实际坐标范围 xmin, xmax, ymin, ymax
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self.map = map # 缩放并离散化的地图 array(X,Y)
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self.scale_ratio = scale_ratio # 地图缩放率
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self.step_length = step_length # 步长(单次移动)
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self.step_num = self.step_length // self.scale_ratio # 单次移动地图格数
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self.v = velocity # 速度
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self.react_radius = react_radius # robot反应半径
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self.planner = DStarLite(area_range=area_range, map=map, scale_ratio=scale_ratio)
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@staticmethod
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def is_reached(pos: (float, float), goal: (float, float), dis_limit=50):
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'''
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判断是否到达目标
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'''
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dis = math.hypot(pos[0]-goal[0], pos[1]-goal[1])
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# dis = np.linalg.norm(pos - goal)
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return dis < dis_limit
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@staticmethod
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def get_yaw(pos: (float, float), goal: (float, float)):
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'''
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得到移动方向
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'''
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return math.degrees(math.atan2(goal[0] - pos[0], -(goal[1] - pos[1])))
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def legalize_goal(self, goal: (float, float)):
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'''
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TODO: 处理非法目标
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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
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目标在地图外面：起点和目标连线最靠近目标的可行点
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'''
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return goal
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def navigate(self, goal: (float, float), animation=True):
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'''
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单次导航，直到到达目标
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'''
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if not self.scene.reachable_check(goal[0], goal[1], 0):
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goal = self.legalize_goal(goal)
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pos = (self.scene.status.location.X, self.scene.status.location.Y) # 机器人当前: 位置 和 朝向
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print('------------------navigation_start----------------------')
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while not self.is_reached(pos, goal):
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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
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dyna_obs = [obs for obs in dyna_obs if euclidean_distance(obs, pos) < self.react_radius] # 过滤观测范围外的dyna_obs
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# 周围有dyna_obs则步长减半
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if dyna_obs:
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step_num = self.step_num // 2
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else:
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step_num = self.step_num
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path = self.planner.planning(pos, goal, dyna_obs)
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if path:
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if animation:
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self.planner.draw_graph(step_num) # 画出搜索路径
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next_step = min(step_num, len(path))
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next_pos = path[next_step - 1]
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print('plan pos:', next_pos, end=' ')
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yaw = self.get_yaw(pos, next_pos)
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self.scene.walk_to(next_pos[0], next_pos[1], yaw, velocity=self.v, dis_limit=10)
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### 获取视觉图像
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self.scene.get_camera_segment()
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# pos = (self.scene.status.location.X, self.scene.status.location.Y)
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# if self.is_reached(pos, next_pos):
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self.planner.path = self.planner.path[next_step - 1:] # 去除已走过的路径
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pos = (self.scene.status.location.X, self.scene.status.location.Y)
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print('reach pos:', pos)
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self.planner.reset() # 完成一轮导航，重置变量
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if self.is_reached(pos, goal):
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print('The robot has achieved goal !!')
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