├── CMakeLists.txt ├── Data ├── Log_feedback_1 │ ├── LogSimParams.txt │ ├── THETA_goal.csv │ ├── THETA_traj.csv │ ├── X_goal.csv │ ├── X_traj.csv │ ├── Y_goal.csv │ └── Y_traj.csv ├── Log_feedback_2 │ ├── LogSimParams.txt │ ├── THETA_goal.csv │ ├── THETA_traj.csv │ ├── X_goal.csv │ ├── X_traj.csv │ ├── Y_goal.csv │ └── Y_traj.csv ├── Log_feedback_3 │ ├── LogSimParams.txt │ ├── THETA_goal.csv │ ├── THETA_traj.csv │ ├── X_goal.csv │ ├── X_traj.csv │ ├── Y_goal.csv │ └── Y_traj.csv ├── Log_learning │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ ├── steps_per_episode.csv │ └── t_per_episode.csv ├── Log_learning_ALPHA_0dot3 │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── Log_learning_ALPHA_0dot5 │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── Log_learning_ALPHA_0dot7 │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── Log_learning_EPSILON │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── Log_learning_FINAL (copy) │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── Log_learning_FINAL │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ ├── steps_per_episode.csv │ └── t_per_episode.csv ├── Log_learning_GAMMA_0dot5 │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── Log_learning_GAMMA_0dot7 │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── Log_learning_GAMMA_0dot9 │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── Log_learning_RANDOM │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv └── Log_learning_SOFTMAX │ ├── EPSILON_per_episode.csv │ ├── LogInfo.txt │ ├── LogParams.txt │ ├── Qtable.csv │ ├── StateSpace.csv │ ├── T_per_episode.csv │ ├── reward_avg_per_episode.csv │ ├── reward_max_per_episode.csv │ ├── reward_min_per_episode.csv │ ├── reward_per_episode.csv │ └── steps_per_episode.csv ├── README.md ├── Thesis ├── Lukovic_Aleksa_Master_Rad.pdf ├── Master_Rad_Prezentacija.pptx └── learning_phase_flow_chart.png ├── package.xml ├── rqt_graphs ├── control_scan_real_robot_rqt.png ├── control_scan_simulation_rqt.png ├── feedback_control_rqt.png └── learning_scan_simulation_rqt.png └── scripts ├── Control.py ├── Lidar.py ├── Plots.py ├── Qlearning.py ├── __pycache__ ├── Control.cpython-38.pyc ├── Lidar.cpython-38.pyc ├── Qlearning.cpython-38.pyc └── funct.cpython-38.pyc ├── control_node.py ├── feedback_control_node.py ├── learning_node.py └── scan_node.py /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(master_rad) 3 | 4 | ## Find catkin and any catkin packages 5 | find_package(catkin REQUIRED COMPONENTS rospy std_msgs ) 6 | 7 | ## Declare a catkin package 8 | catkin_package() 9 | 10 | # Install python scripts 11 | catkin_install_python(PROGRAMS scripts/control_node.py 12 | scripts/Control.py 13 | scripts/feedback_control_node.py 14 | scripts/learning_node.py 15 | scripts/Lidar.py 16 | scripts/Plots.py 17 | scripts/Qlearning.py 18 | scripts/scan_node.py 19 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 20 | ) 21 | 22 | ## Build talker and listener 23 | include_directories(include ${catkin_INCLUDE_DIRS}) 24 | -------------------------------------------------------------------------------- /Data/Log_feedback_1/LogSimParams.txt: -------------------------------------------------------------------------------- 1 | Simulation parameters: 2 | k_rho = 2.000 3 | k_alpha = 10.000 4 | k_beta = -6.000 5 | v_const = 0.100 6 | -------------------------------------------------------------------------------- /Data/Log_feedback_2/LogSimParams.txt: -------------------------------------------------------------------------------- 1 | Simulation parameters: 2 | k_rho = 2.000 3 | k_alpha = 15.000 4 | k_beta = -3.000 5 | v_const = 0.100 6 | -------------------------------------------------------------------------------- /Data/Log_feedback_3/LogSimParams.txt: -------------------------------------------------------------------------------- 1 | Simulation parameters: 2 | k_rho = 2.000 3 | k_alpha = 6.000 4 | k_beta = -8.400 5 | v_const = 0.100 6 | -------------------------------------------------------------------------------- /Data/Log_learning/LogParams.txt: -------------------------------------------------------------------------------- 1 | 2 | SIMULATION START ==> 16/07/2021 18:02:59 3 | 4 | 5 | Simulation parameters: 6 | --------------------------------------- 7 | INITIAL POSITION = ( -0.40 , -0.40 , 45.00 ) 8 | --------------------------------------- 9 | MAX_EPISODES = 400 10 | MAX_STEPS_PER_EPISODE = 500 11 | MIN_TIME_BETWEEN_ACTIONS = 0.00 s 12 | --------------------------------------- 13 | ALPHA = 0.50 14 | GAMMA = 0.90 15 | T_INIT = 25.000 16 | T_GRAD = 0.950 17 | T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(400), LEARNING FINISHED ==> 16/07/2021 19:57:19 31 | Simulation time: 9:29:12 h/m/s 32 | Real time: 1:54:19 h/m/s 33 | 34 | -------------------------------------------------------------------------------- /Data/Log_learning/StateSpace.csv: -------------------------------------------------------------------------------- 1 | 2 0 3 2 2 | 1 2 1 1 3 | 2 1 0 0 4 | 2 0 2 3 5 | 0 0 3 1 6 | 2 1 1 1 7 | 0 1 2 1 8 | 0 1 3 0 9 | 1 1 2 3 10 | 2 2 3 1 11 | 2 1 3 1 12 | 1 2 1 3 13 | 1 2 3 0 14 | 0 1 1 2 15 | 0 1 0 0 16 | 2 1 1 3 17 | 2 2 1 0 18 | 0 1 2 3 19 | 0 1 3 2 20 | 0 2 2 1 21 | 0 2 3 0 22 | 2 1 3 3 23 | 1 0 3 0 24 | 1 0 2 2 25 | 2 2 0 1 26 | 0 2 0 1 27 | 1 2 3 2 28 | 2 0 0 1 29 | 1 0 1 0 30 | 0 2 1 2 31 | 0 0 2 0 32 | 2 2 2 1 33 | 1 1 0 1 34 | 0 2 2 3 35 | 0 2 3 2 36 | 1 0 3 2 37 | 2 2 0 3 38 | 0 2 0 3 39 | 2 0 1 1 40 | 2 0 0 3 41 | 2 0 2 0 42 | 1 1 3 2 43 | 0 0 2 2 44 | 2 2 2 3 45 | 1 1 0 3 46 | 1 1 2 0 47 | 2 0 3 1 48 | 1 2 1 0 49 | 2 0 1 3 50 | 2 0 2 2 51 | 2 1 1 0 52 | 2 1 0 2 53 | 0 0 3 3 54 | 1 2 0 1 55 | 0 1 2 0 56 | 2 1 3 0 57 | 1 2 1 2 58 | 1 2 2 1 59 | 0 1 1 1 60 | 2 2 3 0 61 | 1 1 1 0 62 | 0 0 0 0 63 | 2 1 1 2 64 | 2 1 2 1 65 | 1 0 0 1 66 | 1 2 0 3 67 | 0 1 0 2 68 | 0 1 3 1 69 | 2 2 1 2 70 | 0 2 2 0 71 | 2 1 3 2 72 | 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-------------------------------------------------------------------------------- /Data/Log_learning_ALPHA_0dot3/EPSILON_per_episode.csv: -------------------------------------------------------------------------------- 1 | 9.000000000000000222e-01 2 | 8.639999999999999902e-01 3 | 8.294399999999999551e-01 4 | 7.962623999999999258e-01 5 | 7.644119039999999199e-01 6 | 7.338354278399998876e-01 7 | 7.044820107263998210e-01 8 | 6.763027302973437793e-01 9 | 6.492506210854499527e-01 10 | 6.232805962420319146e-01 11 | 5.983493723923506424e-01 12 | 5.744153974966565990e-01 13 | 5.514387815967902728e-01 14 | 5.293812303329186175e-01 15 | 5.082059811196018018e-01 16 | 4.878777418748176942e-01 17 | 4.683626321998249908e-01 18 | 4.496281269118319601e-01 19 | 4.316430018353586417e-01 20 | 4.143772817619442717e-01 21 | 3.978021904914664786e-01 22 | 3.818901028718078017e-01 23 | 3.666144987569354696e-01 24 | 3.519499188066580464e-01 25 | 3.378719220543917046e-01 26 | 3.243570451722160297e-01 27 | 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4.960209904971762257e-02 190 | 4.960209904971762257e-02 191 | 4.960209904971762257e-02 192 | 4.960209904971762257e-02 193 | 4.960209904971762257e-02 194 | 4.960209904971762257e-02 195 | 4.960209904971762257e-02 196 | 4.960209904971762257e-02 197 | 4.960209904971762257e-02 198 | 4.960209904971762257e-02 199 | 4.960209904971762257e-02 200 | 4.960209904971762257e-02 201 | -------------------------------------------------------------------------------- /Data/Log_learning_ALPHA_0dot3/LogParams.txt: -------------------------------------------------------------------------------- 1 | 2 | SIMULATION START ==> 02/12/2020 18:50:12 3 | 4 | 5 | Simulation parameters: 6 | --------------------------------------- 7 | INITIAL POSITION = ( -0.40 , -0.40 , 45.00 ) 8 | --------------------------------------- 9 | MAX_EPISODES = 200 10 | MAX_STEPS_PER_EPISODE = 300 11 | MIN_TIME_BETWEEN_ACTIONS = 0.00 s 12 | --------------------------------------- 13 | ALPHA = 0.30 14 | GAMMA = 0.90 15 | T_INIT = 25.000 16 | T_GRAD = 0.950 17 | T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(200), LEARNING FINISHED ==> 02/12/2020 19:56:21 31 | Simulation time: 2:29:45 h/m/s 32 | Real time: 1:6:9 h/m/s 33 | 34 | -------------------------------------------------------------------------------- /Data/Log_learning_ALPHA_0dot3/StateSpace.csv: -------------------------------------------------------------------------------- 1 | 0 2 0 1 2 | 0 2 2 1 3 | 1 1 0 3 4 | 0 1 2 2 5 | 2 1 0 1 6 | 1 1 2 2 7 | 2 2 3 2 8 | 2 1 2 1 9 | 0 1 0 3 10 | 2 1 2 2 11 | 1 2 2 1 12 | 2 2 1 3 13 | 1 2 0 1 14 | 0 0 2 2 15 | 1 2 0 2 16 | 2 0 0 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COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(200), LEARNING FINISHED ==> 03/12/2020 10:18:59 31 | Simulation time: 2:30:33 h/m/s 32 | Real time: 1:5:29 h/m/s 33 | 34 | -------------------------------------------------------------------------------- /Data/Log_learning_ALPHA_0dot5/StateSpace.csv: -------------------------------------------------------------------------------- 1 | 0 2 0 1 2 | 0 2 2 1 3 | 1 1 0 3 4 | 0 1 2 2 5 | 2 1 0 1 6 | 1 1 2 2 7 | 2 2 3 2 8 | 2 1 2 1 9 | 0 1 0 3 10 | 2 1 2 2 11 | 1 2 2 1 12 | 2 2 1 3 13 | 1 2 0 1 14 | 0 0 2 2 15 | 1 2 0 2 16 | 2 0 0 3 17 | 0 0 2 1 18 | 1 0 1 0 19 | 0 0 0 1 20 | 0 2 1 1 21 | 1 0 3 0 22 | 0 2 3 1 23 | 1 0 3 3 24 | 0 2 3 2 25 | 1 1 1 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parameters: 6 | --------------------------------------- 7 | INITIAL POSITION = ( -0.40 , -0.40 , 45.00 ) 8 | --------------------------------------- 9 | MAX_EPISODES = 200 10 | MAX_STEPS_PER_EPISODE = 300 11 | MIN_TIME_BETWEEN_ACTIONS = 0.00 s 12 | --------------------------------------- 13 | ALPHA = 0.70 14 | GAMMA = 0.90 15 | T_INIT = 25.000 16 | T_GRAD = 0.950 17 | T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(200), LEARNING FINISHED ==> 03/12/2020 12:20:06 31 | Simulation time: 2:56:23 h/m/s 32 | Real time: 1:33:48 h/m/s 33 | 34 | 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3.000000000000000000e+02 179 | 3.000000000000000000e+02 180 | 3.000000000000000000e+02 181 | 3.000000000000000000e+02 182 | 3.000000000000000000e+02 183 | 1.040000000000000000e+02 184 | 3.000000000000000000e+02 185 | 3.000000000000000000e+02 186 | 2.130000000000000000e+02 187 | 1.360000000000000000e+02 188 | 3.000000000000000000e+02 189 | 1.210000000000000000e+02 190 | 3.000000000000000000e+02 191 | 3.000000000000000000e+02 192 | 2.110000000000000000e+02 193 | 2.160000000000000000e+02 194 | 3.000000000000000000e+02 195 | 3.000000000000000000e+02 196 | 3.000000000000000000e+02 197 | 2.470000000000000000e+02 198 | 3.000000000000000000e+02 199 | 3.000000000000000000e+02 200 | 3.000000000000000000e+02 201 | -------------------------------------------------------------------------------- /Data/Log_learning_FINAL (copy)/LogParams.txt: -------------------------------------------------------------------------------- 1 | 2 | SIMULATION START ==> 04/12/2020 22:30:10 3 | 4 | 5 | Simulation parameters: 6 | --------------------------------------- 7 | INITIAL POSITION = ( -0.40 , -0.40 , 45.00 ) 8 | --------------------------------------- 9 | MAX_EPISODES = 400 10 | MAX_STEPS_PER_EPISODE = 500 11 | MIN_TIME_BETWEEN_ACTIONS = 0.00 s 12 | --------------------------------------- 13 | ALPHA = 0.50 14 | GAMMA = 0.90 15 | T_INIT = 25.000 16 | T_GRAD = 0.950 17 | T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(400), LEARNING FINISHED ==> 05/12/2020 02:41:18 31 | Simulation time: 9:50:39 h/m/s 32 | Real time: 4:11:7 h/m/s 33 | 34 | 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1 2 137 | 0 0 3 0 138 | 1 2 1 1 139 | 1 0 0 1 140 | 0 0 1 0 141 | 2 0 3 3 142 | 1 0 2 1 143 | 0 2 0 2 144 | 1 0 2 2 145 | -------------------------------------------------------------------------------- /Data/Log_learning_FINAL/LogParams.txt: -------------------------------------------------------------------------------- 1 | 2 | SIMULATION START ==> 16/07/2021 18:02:59 3 | 4 | 5 | Simulation parameters: 6 | --------------------------------------- 7 | INITIAL POSITION = ( -0.40 , -0.40 , 45.00 ) 8 | --------------------------------------- 9 | MAX_EPISODES = 400 10 | MAX_STEPS_PER_EPISODE = 500 11 | MIN_TIME_BETWEEN_ACTIONS = 0.00 s 12 | --------------------------------------- 13 | ALPHA = 0.50 14 | GAMMA = 0.90 15 | T_INIT = 25.000 16 | T_GRAD = 0.950 17 | T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(400), LEARNING FINISHED ==> 16/07/2021 19:57:19 31 | Simulation time: 9:29:12 h/m/s 32 | Real time: 1:54:19 h/m/s 33 | 34 | -------------------------------------------------------------------------------- /Data/Log_learning_FINAL/StateSpace.csv: -------------------------------------------------------------------------------- 1 | 2 0 3 2 2 | 1 2 1 1 3 | 2 1 0 0 4 | 2 0 2 3 5 | 0 0 3 1 6 | 2 1 1 1 7 | 0 1 2 1 8 | 0 1 3 0 9 | 1 1 2 3 10 | 2 2 3 1 11 | 2 1 3 1 12 | 1 2 1 3 13 | 1 2 3 0 14 | 0 1 1 2 15 | 0 1 0 0 16 | 2 1 1 3 17 | 2 2 1 0 18 | 0 1 2 3 19 | 0 1 3 2 20 | 0 2 2 1 21 | 0 2 3 0 22 | 2 1 3 3 23 | 1 0 3 0 24 | 1 0 2 2 25 | 2 2 0 1 26 | 0 2 0 1 27 | 1 2 3 2 28 | 2 0 0 1 29 | 1 0 1 0 30 | 0 2 1 2 31 | 0 0 2 0 32 | 2 2 2 1 33 | 1 1 0 1 34 | 0 2 2 3 35 | 0 2 3 2 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-------------------------------------------------------------------------------- 1 | 2 | SIMULATION START ==> 04/12/2020 09:36:08 3 | 4 | 5 | Simulation parameters: 6 | --------------------------------------- 7 | INITIAL POSITION = ( -0.40 , -0.40 , 45.00 ) 8 | --------------------------------------- 9 | MAX_EPISODES = 200 10 | MAX_STEPS_PER_EPISODE = 300 11 | MIN_TIME_BETWEEN_ACTIONS = 0.00 s 12 | --------------------------------------- 13 | ALPHA = 0.50 14 | GAMMA = 0.50 15 | T_INIT = 25.000 16 | T_GRAD = 0.950 17 | T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(200), LEARNING FINISHED 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parameters: 6 | --------------------------------------- 7 | INITIAL POSITION = ( -0.40 , -0.40 , 45.00 ) 8 | --------------------------------------- 9 | MAX_EPISODES = 200 10 | MAX_STEPS_PER_EPISODE = 300 11 | MIN_TIME_BETWEEN_ACTIONS = 0.00 s 12 | --------------------------------------- 13 | ALPHA = 0.50 14 | GAMMA = 0.70 15 | T_INIT = 25.000 16 | T_GRAD = 0.950 17 | T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(200), LEARNING FINISHED ==> 03/12/2020 15:03:09 31 | Simulation time: 2:21:34 h/m/s 32 | Real time: 1:40:47 h/m/s 33 | 34 | 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MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(200), LEARNING FINISHED ==> 03/12/2020 10:18:59 31 | Simulation time: 2:30:33 h/m/s 32 | Real time: 1:5:29 h/m/s 33 | 34 | -------------------------------------------------------------------------------- /Data/Log_learning_GAMMA_0dot9/StateSpace.csv: -------------------------------------------------------------------------------- 1 | 0 2 0 1 2 | 0 2 2 1 3 | 1 1 0 3 4 | 0 1 2 2 5 | 2 1 0 1 6 | 1 1 2 2 7 | 2 2 3 2 8 | 2 1 2 1 9 | 0 1 0 3 10 | 2 1 2 2 11 | 1 2 2 1 12 | 2 2 1 3 13 | 1 2 0 1 14 | 0 0 2 2 15 | 1 2 0 2 16 | 2 0 0 3 17 | 0 0 2 1 18 | 1 0 1 0 19 | 0 0 0 1 20 | 0 2 1 1 21 | 1 0 3 0 22 | 0 2 3 1 23 | 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T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(1000), LEARNING FINISHED ==> 08/01/2021 22:41:02 31 | Simulation time: 23:18:34 h/m/s 32 | Real time: 9:57:58 h/m/s 33 | 34 | -------------------------------------------------------------------------------- /Data/Log_learning_RANDOM/StateSpace.csv: -------------------------------------------------------------------------------- 1 | 0 2 0 1 2 | 0 2 2 1 3 | 1 1 0 3 4 | 0 1 2 2 5 | 2 1 0 1 6 | 1 1 2 2 7 | 2 2 3 2 8 | 2 1 2 1 9 | 0 1 0 3 10 | 2 1 2 2 11 | 1 2 2 1 12 | 2 2 1 3 13 | 1 2 0 1 14 | 0 0 2 2 15 | 1 2 0 2 16 | 2 0 0 3 17 | 0 0 2 1 18 | 1 0 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4.960209904971762257e-02 200 | 4.960209904971762257e-02 201 | -------------------------------------------------------------------------------- /Data/Log_learning_SOFTMAX/LogParams.txt: -------------------------------------------------------------------------------- 1 | 2 | SIMULATION START ==> 02/12/2020 18:50:12 3 | 4 | 5 | Simulation parameters: 6 | --------------------------------------- 7 | INITIAL POSITION = ( -0.40 , -0.40 , 45.00 ) 8 | --------------------------------------- 9 | MAX_EPISODES = 200 10 | MAX_STEPS_PER_EPISODE = 300 11 | MIN_TIME_BETWEEN_ACTIONS = 0.00 s 12 | --------------------------------------- 13 | ALPHA = 0.30 14 | GAMMA = 0.90 15 | T_INIT = 25.000 16 | T_GRAD = 0.950 17 | T_MIN = 0.001 18 | --------------------------------------- 19 | MAX_LIDAR_DISTANCE = 1.00 20 | COLLISION_DISTANCE = 0.14 21 | ZONE_0_LENGTH = 0.40 22 | ZONE_1_LENGTH = 0.70 23 | --------------------------------------- 24 | CONST_LINEAR_SPEED_FORWARD = 0.080 25 | CONST_ANGULAR_SPEED_FORWARD = 0.000 26 | CONST_LINEAR_SPEED_TURN = 0.060 27 | CONST_ANGULAR_SPEED_TURN = 0.400 28 | --------------------------------------- 29 | 30 | MAX EPISODES REACHED(200), LEARNING FINISHED ==> 02/12/2020 19:56:21 31 | Simulation time: 2:29:45 h/m/s 32 | Real time: 1:6:9 h/m/s 33 | 34 | -------------------------------------------------------------------------------- /Data/Log_learning_SOFTMAX/StateSpace.csv: -------------------------------------------------------------------------------- 1 | 0 2 0 1 2 | 0 2 2 1 3 | 1 1 0 3 4 | 0 1 2 2 5 | 2 1 0 1 6 | 1 1 2 2 7 | 2 2 3 2 8 | 2 1 2 1 9 | 0 1 0 3 10 | 2 1 2 2 11 | 1 2 2 1 12 | 2 2 1 3 13 | 1 2 0 1 14 | 0 0 2 2 15 | 1 2 0 2 16 | 2 0 0 3 17 | 0 0 2 1 18 | 1 0 1 0 19 | 0 0 0 1 20 | 0 2 1 1 21 | 1 0 3 0 22 | 0 2 3 1 23 | 1 0 3 3 24 | 0 2 3 2 25 | 1 1 1 3 26 | 1 1 1 0 27 | 1 1 3 0 28 | 0 1 3 3 29 | 2 2 0 1 30 | 2 1 1 0 31 | 2 2 2 3 32 | 2 1 3 0 33 | 0 1 1 2 34 | 2 1 3 3 35 | 1 2 3 0 36 | 2 0 1 3 37 | 0 0 3 1 38 | 2 0 1 0 39 | 1 2 1 0 40 | 1 0 0 2 41 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3.000000000000000000e+02 186 | 3.000000000000000000e+02 187 | 3.000000000000000000e+02 188 | 3.000000000000000000e+02 189 | 3.000000000000000000e+02 190 | 3.000000000000000000e+02 191 | 3.000000000000000000e+02 192 | 3.000000000000000000e+02 193 | 3.000000000000000000e+02 194 | 3.000000000000000000e+02 195 | 3.000000000000000000e+02 196 | 3.000000000000000000e+02 197 | 3.000000000000000000e+02 198 | 3.000000000000000000e+02 199 | 3.000000000000000000e+02 200 | 3.000000000000000000e+02 201 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # autonomous-driving-turtlebot-with-reinforcement-learning 2 | Implementation of Q-learning algorithm and Feedback control for the mobile robot (turtlebot3_burger) in ROS. 3 | 4 | * Algorithm is implemented from scratch. 5 | * To run the code in gazebo simulator, export the model (burger) and roslaunch turtlebot3_world.launch file. 6 | * To run the code live on a physical TurtleBot, the ROS_MASTER_URI and ROS_HOSTNAME need to be set via the terminal by editing the ~/.bashrc script. 7 | * After setting up the environment, rosrun the desired nodes! 8 | * Link to video: https://www.youtube.com/watch?v=zw1BCfku1Dc&t=3s 9 | 10 | ![radno okruzenje 3](https://user-images.githubusercontent.com/72970001/98345474-02e69500-2015-11eb-8552-9949ddae6cab.jpeg) 11 | 12 | # Content 13 | * [Thesis](Thesis) -> master thesis and learning phase flow chart 14 | * [Log_feedback_1, 2, 3](Data) -> folders containing data and parameters from Feedback Control algorithm testing 15 | * [Log_learning ...](Data) -> folder containing data and parameters from the learning phase, as well as the Q-table 16 | * [rqt_graphs](rqt_graphs) -> folder containing rqt graphs in ROS 17 | * [scripts](scripts) -> python scripts 18 | * [Control.py](scripts/Control.py) -> functions for robot control, Odometry message processing and setting robot's initial position 19 | * [Lidar.py](scripts/Lidar.py) -> functions for Lidar message processing and discretization 20 | * [Qlearning.py](scripts/Qlearning.py) -> functions for Q-learning algorithm 21 | * [Plots.py](scripts/Plots.py) -> plotting the data from learning phase and Q-table 22 | * [scan_node.py](scripts/scan_node.py) -> initializing the node for displaying the Lidar measurements and the current state of the agent 23 | * [learning_node.py](scripts/learning_node.py) -> initializing the node for learning session 24 | * [feedback_control_node.py](scripts/feedback_control_node.py) -> initializing the node for applying Feedback Control algorithm 25 | * [control_node.py](scripts/control_node.py) -> initializing the node for applying the Q-learning algorithm combined with Feedback control 26 | * [learning phase flow chart](scripts/learning_phase_flow_chart.png) -> flow chart of the learning phase of the algorithm 27 | 28 | 29 | -------------------------------------------------------------------------------- /Thesis/Lukovic_Aleksa_Master_Rad.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukovicaleksa/autonomous-driving-turtlebot-with-reinforcement-learning/ae5bcb70c892baaf7be4f5784d626e98f7093c5c/Thesis/Lukovic_Aleksa_Master_Rad.pdf -------------------------------------------------------------------------------- /Thesis/Master_Rad_Prezentacija.pptx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukovicaleksa/autonomous-driving-turtlebot-with-reinforcement-learning/ae5bcb70c892baaf7be4f5784d626e98f7093c5c/Thesis/Master_Rad_Prezentacija.pptx -------------------------------------------------------------------------------- /Thesis/learning_phase_flow_chart.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /rqt_graphs/learning_scan_simulation_rqt.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukovicaleksa/autonomous-driving-turtlebot-with-reinforcement-learning/ae5bcb70c892baaf7be4f5784d626e98f7093c5c/rqt_graphs/learning_scan_simulation_rqt.png -------------------------------------------------------------------------------- /scripts/Lidar.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import numpy as np 4 | from math import * 5 | from std_msgs.msg import String 6 | from sensor_msgs.msg import LaserScan 7 | 8 | MAX_LIDAR_DISTANCE = 1.0 9 | COLLISION_DISTANCE = 0.14 # LaserScan.range_min = 0.1199999 10 | NEARBY_DISTANCE = 0.45 11 | 12 | ZONE_0_LENGTH = 0.4 13 | ZONE_1_LENGTH = 0.7 14 | 15 | ANGLE_MAX = 360 - 1 16 | ANGLE_MIN = 1 - 1 17 | HORIZON_WIDTH = 75 18 | 19 | # Convert LasecScan msg to array 20 | def lidarScan(msgScan): 21 | distances = np.array([]) 22 | angles = np.array([]) 23 | 24 | for i in range(len(msgScan.ranges)): 25 | angle = degrees(i * msgScan.angle_increment) 26 | if ( msgScan.ranges[i] > MAX_LIDAR_DISTANCE ): 27 | distance = MAX_LIDAR_DISTANCE 28 | elif ( msgScan.ranges[i] < msgScan.range_min ): 29 | distance = msgScan.range_min 30 | # For real robot - protection 31 | if msgScan.ranges[i] < 0.01: 32 | distance = MAX_LIDAR_DISTANCE 33 | else: 34 | distance = msgScan.ranges[i] 35 | 36 | distances = np.append(distances, distance) 37 | angles = np.append(angles, angle) 38 | 39 | # distances in [m], angles in [degrees] 40 | return ( distances, angles ) 41 | 42 | # Discretization of lidar scan 43 | def scanDiscretization(state_space, lidar): 44 | x1 = 2 # Left zone (no obstacle detected) 45 | x2 = 2 # Right zone (no obstacle detected) 46 | x3 = 3 # Left sector (no obstacle detected) 47 | x4 = 3 # Right sector (no obstacle detected) 48 | 49 | # Find the left side lidar values of the vehicle 50 | lidar_left = min(lidar[(ANGLE_MIN):(ANGLE_MIN + HORIZON_WIDTH)]) 51 | if ZONE_1_LENGTH > lidar_left > ZONE_0_LENGTH: 52 | x1 = 1 # zone 1 53 | elif lidar_left <= ZONE_0_LENGTH: 54 | x1 = 0 # zone 0 55 | 56 | # Find the right side lidar values of the vehicle 57 | lidar_right = min(lidar[(ANGLE_MAX - HORIZON_WIDTH):(ANGLE_MAX)]) 58 | if ZONE_1_LENGTH > lidar_right > ZONE_0_LENGTH: 59 | x2 = 1 # zone 1 60 | elif lidar_right <= ZONE_0_LENGTH: 61 | x2 = 0 # zone 0 62 | 63 | # Detection of object in front of the robot 64 | if ( min(lidar[(ANGLE_MAX - HORIZON_WIDTH // 3):(ANGLE_MAX)]) < 1.0 ) or ( min(lidar[(ANGLE_MIN):(ANGLE_MIN + HORIZON_WIDTH // 3)]) < 1.0 ): 65 | object_front = True 66 | else: 67 | object_front = False 68 | 69 | # Detection of object on the left side of the robot 70 | if min(lidar[(ANGLE_MIN):(ANGLE_MIN + 2 * HORIZON_WIDTH // 3)]) < 1.0: 71 | object_left = True 72 | else: 73 | object_left = False 74 | 75 | # Detection of object on the right side of the robot 76 | if min(lidar[(ANGLE_MAX - 2 * HORIZON_WIDTH // 3):(ANGLE_MAX)]) < 1.0: 77 | object_right = True 78 | else: 79 | object_right = False 80 | 81 | # Detection of object on the far left side of the robot 82 | if min(lidar[(ANGLE_MIN + HORIZON_WIDTH // 3):(ANGLE_MIN + HORIZON_WIDTH)]) < 1.0: 83 | object_far_left = True 84 | else: 85 | object_far_left = False 86 | 87 | # Detection of object on the far right side of the robot 88 | if min(lidar[(ANGLE_MAX - HORIZON_WIDTH):(ANGLE_MAX - HORIZON_WIDTH // 3)]) < 1.0: 89 | object_far_right = True 90 | else: 91 | object_far_right = False 92 | 93 | # The left sector of the vehicle 94 | if ( object_front and object_left ) and ( not object_far_left ): 95 | x3 = 0 # sector 0 96 | elif ( object_left and object_far_left ) and ( not object_front ): 97 | x3 = 1 # sector 1 98 | elif object_front and object_left and object_far_left: 99 | x3 = 2 # sector 2 100 | 101 | if ( object_front and object_right ) and ( not object_far_right ): 102 | x4 = 0 # sector 0 103 | elif ( object_right and object_far_right ) and ( not object_front ): 104 | x4 = 1 # sector 1 105 | elif object_front and object_right and object_far_right: 106 | x4 = 2 # sector 2 107 | 108 | # Find the state space index of (x1,x2,x3,x4) in Q table 109 | ss = np.where(np.all(state_space == np.array([x1,x2,x3,x4]), axis = 1)) 110 | state_ind = int(ss[0]) 111 | 112 | return ( state_ind, x1, x2, x3 , x4 ) 113 | 114 | # Check - crash 115 | def checkCrash(lidar): 116 | lidar_horizon = np.concatenate((lidar[(ANGLE_MIN + HORIZON_WIDTH):(ANGLE_MIN):-1],lidar[(ANGLE_MAX):(ANGLE_MAX - HORIZON_WIDTH):-1])) 117 | W = np.linspace(1.2, 1, len(lidar_horizon) // 2) 118 | W = np.append(W, np.linspace(1, 1.2, len(lidar_horizon) // 2)) 119 | if np.min( W * lidar_horizon ) < COLLISION_DISTANCE: 120 | return True 121 | else: 122 | return False 123 | 124 | # Check - object nearby 125 | def checkObjectNearby(lidar): 126 | lidar_horizon = np.concatenate((lidar[(ANGLE_MIN + HORIZON_WIDTH):(ANGLE_MIN):-1],lidar[(ANGLE_MAX):(ANGLE_MAX - HORIZON_WIDTH):-1])) 127 | W = np.linspace(1.4, 1, len(lidar_horizon) // 2) 128 | W = np.append(W, np.linspace(1, 1.4, len(lidar_horizon) // 2)) 129 | if np.min( W * lidar_horizon ) < NEARBY_DISTANCE: 130 | return True 131 | else: 132 | return False 133 | 134 | # Check - goal near 135 | def checkGoalNear(x, y, x_goal, y_goal): 136 | ro = sqrt( pow( ( x_goal - x ) , 2 ) + pow( ( y_goal - y ) , 2) ) 137 | if ro < 0.3: 138 | return True 139 | else: 140 | return False 141 | -------------------------------------------------------------------------------- /scripts/__pycache__/Control.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukovicaleksa/autonomous-driving-turtlebot-with-reinforcement-learning/ae5bcb70c892baaf7be4f5784d626e98f7093c5c/scripts/__pycache__/Control.cpython-38.pyc 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https://raw.githubusercontent.com/lukovicaleksa/autonomous-driving-turtlebot-with-reinforcement-learning/ae5bcb70c892baaf7be4f5784d626e98f7093c5c/scripts/__pycache__/funct.cpython-38.pyc -------------------------------------------------------------------------------- /scripts/feedback_control_node.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import rospy 4 | from time import time 5 | from time import sleep 6 | from datetime import datetime 7 | import matplotlib.pyplot as plt 8 | 9 | import sys 10 | DATA_PATH = '/home/maestro/catkin_ws/src/master_rad/Data' 11 | MODULES_PATH = '/home/maestro/catkin_ws/src/master_rad/scripts' 12 | sys.path.insert(0, MODULES_PATH) 13 | 14 | from Control import * 15 | 16 | X_INIT = 0.0 17 | Y_INIT = 0.0 18 | THETA_INIT = 0.0 19 | X_GOAL = 3 20 | Y_GOAL = 2 21 | THETA_GOAL = 15 22 | 23 | # init trajectory 24 | X_traj = np.array([]) 25 | Y_traj = np.array([]) 26 | THETA_traj = np.array([]) 27 | X_goal = np.array([]) 28 | Y_goal = np.array([]) 29 | THETA_goal = np.array([]) 30 | 31 | # log directory 32 | LOG_DIR = DATA_PATH + '/Log_feedback' 33 | 34 | if __name__ == '__main__': 35 | try: 36 | # init nodes 37 | rospy.init_node('feedback_control_node', anonymous = False) 38 | rate = rospy.Rate(10) 39 | 40 | # init topics 41 | setPosPub = rospy.Publisher('/gazebo/set_model_state', ModelState, queue_size = 10) 42 | velPub = rospy.Publisher('/cmd_vel', Twist, queue_size = 10) 43 | 44 | # init log files 45 | log_sim_params = open(LOG_DIR+'/LogSimParams.txt','w+') 46 | 47 | # log simulation params 48 | text = 'Simulation parameters: \r\n' 49 | text = text + 'k_rho = %.3f \r\n' % K_RO 50 | text = text + 'k_alpha = %.3f \r\n' % K_ALPHA 51 | text = text + 'k_beta = %.3f \r\n' % K_BETA 52 | text = text + 'v_const = %.3f \r\n' % V_CONST 53 | log_sim_params.write(text) 54 | 55 | # close log files 56 | log_sim_params.close() 57 | 58 | print('\r\n' + text) 59 | 60 | # check stability 61 | stab_dict = { True : 'Satisfied!', False : 'Not Satisfied!'} 62 | 63 | print('Stability Condition: ' + stab_dict[check_stability(K_RO, K_ALPHA, K_BETA)]) 64 | print('Strong Stability Condition: ' + stab_dict[check_strong_stability(K_RO, K_ALPHA, K_BETA)]) 65 | 66 | # because of the video recording 67 | sleep(5) 68 | 69 | # main loop 70 | while not rospy.is_shutdown(): 71 | 72 | # Wait for odometry message 73 | odomMsg = rospy.wait_for_message('/odom', Odometry) 74 | 75 | # Get robot position and orientation 76 | ( x , y ) = getPosition(odomMsg) 77 | theta = getRotation(odomMsg) 78 | 79 | # Update trajectory 80 | X_traj = np.append(X_traj, x) 81 | Y_traj = np.append(Y_traj, y) 82 | THETA_traj = np.append(THETA_traj, degrees(theta)) 83 | X_goal = np.append(X_goal, X_GOAL) 84 | Y_goal = np.append(Y_goal, Y_GOAL) 85 | THETA_goal = np.append(THETA_goal, THETA_GOAL) 86 | 87 | status = robotFeedbackControl(velPub, x, y, theta, X_GOAL, Y_GOAL, radians(THETA_GOAL)) 88 | 89 | text = '\r\n' 90 | text = text + '\r\nx : %.2f -> %.2f [m]' % (x, X_GOAL) 91 | text = text + '\r\ny : %.2f -> %.2f [m]' % (y, Y_GOAL) 92 | text = text + '\r\ntheta : %.2f -> %.2f [degrees]' % (degrees(theta), THETA_GOAL) 93 | 94 | if status == 'Goal position reached!': 95 | # stop the robot 96 | robotStop(velPub) 97 | 98 | # log trajectory 99 | np.savetxt(LOG_DIR+'/X_traj.csv', X_traj, delimiter = ' , ') 100 | np.savetxt(LOG_DIR+'/Y_traj.csv', Y_traj, delimiter = ' , ') 101 | np.savetxt(LOG_DIR+'/THETA_traj.csv', THETA_traj, delimiter = ' , ') 102 | np.savetxt(LOG_DIR+'/X_goal.csv', X_goal, delimiter = ' , ') 103 | np.savetxt(LOG_DIR+'/Y_goal.csv', Y_goal, delimiter = ' , ') 104 | np.savetxt(LOG_DIR+'/THETA_goal.csv', THETA_goal, delimiter = ' , ') 105 | 106 | 107 | rospy.signal_shutdown('Goal position reached! End of simulation!') 108 | text = text + '\r\n\r\nGoal position reached! End of simulation!' 109 | 110 | print(text) 111 | 112 | except rospy.ROSInterruptException: 113 | robotStop(velPub) 114 | print('Simulation terminated!') 115 | pass 116 | -------------------------------------------------------------------------------- /scripts/scan_node.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import rospy 4 | import matplotlib.pyplot as plt 5 | from datetime import datetime 6 | 7 | import sys 8 | sys.path.insert(0, '/home/maestro/catkin_ws/src/master_rad/scripts') 9 | 10 | from Qlearning import * 11 | from Lidar import * 12 | from Control import * 13 | 14 | ANGLE_MAX = 360 - 1 15 | ANGLE_MIN = 1 - 1 16 | HORIZON_WIDTH = 75 17 | 18 | MIN_TIME_BETWEEN_SCANS = 0 19 | MAX_SIMULATION_TIME = float('inf') 20 | 21 | if __name__ == '__main__': 22 | try: 23 | state_space = createStateSpace() 24 | 25 | rospy.init_node('scan_node', anonymous = False) 26 | rate = rospy.Rate(10) 27 | 28 | now = datetime.now() 29 | dt_string_start = now.strftime("%d/%m/%Y %H:%M:%S") 30 | print('SCAN NODE START ==> ', dt_string_start ,'\r\n') 31 | 32 | scan_time = 0 33 | count = 0 34 | 35 | t_0 = rospy.Time.now() 36 | t_start = rospy.Time.now() 37 | 38 | # init timer 39 | while not (t_start > t_0): 40 | t_start = rospy.Time.now() 41 | 42 | t = t_start 43 | 44 | # Init figure - real time 45 | plt.style.use('seaborn-ticks') 46 | fig = plt.figure(1) 47 | ax = fig.add_subplot(1,1,1) 48 | 49 | # main loop 50 | while not rospy.is_shutdown(): 51 | msgScan = rospy.wait_for_message('/scan', LaserScan) 52 | 53 | scan_time = (rospy.Time.now() - t).to_sec() 54 | sim_time = (rospy.Time.now() - t_start).to_sec() 55 | count = count + 1 56 | 57 | if scan_time > MIN_TIME_BETWEEN_SCANS: 58 | print('\r\nScan cycle:', count , '\r\nScan time:', scan_time, 's') 59 | print('Simulation time:', sim_time, 's') 60 | t = rospy.Time.now() 61 | 62 | # distances in [m], angles in [degrees] 63 | ( lidar, angles ) = lidarScan(msgScan) 64 | ( state_ind, x1, x2 ,x3 ,x4 ) = scanDiscretization(state_space, lidar) 65 | 66 | crash = checkCrash(lidar) 67 | object_nearby = checkObjectNearby(lidar) 68 | 69 | print('state index:', state_ind) 70 | print('x1 x2 x3 x4') 71 | print(x1, '', x2, '', x3, '', x4) 72 | if crash: 73 | print('CRASH !') 74 | if object_nearby: 75 | print('OBJECT NEARBY !') 76 | 77 | lidar_horizon = np.concatenate((lidar[(ANGLE_MIN + HORIZON_WIDTH):(ANGLE_MIN):-1],lidar[(ANGLE_MAX):(ANGLE_MAX - HORIZON_WIDTH):-1])) 78 | #angles_horizon = np.concatenate((angles[(ANGLE_MIN + HORIZON_WIDTH):(ANGLE_MIN):-1],angles[(ANGLE_MAX):(ANGLE_MAX - HORIZON_WIDTH):-1])) 79 | angles_horizon = np.linspace(90+HORIZON_WIDTH, 90-HORIZON_WIDTH, 150) 80 | 81 | # horizon in x-y plane 82 | x_horizon = np.array([]) 83 | y_horizon = np.array([]) 84 | for i in range(len(lidar_horizon)): 85 | x_horizon = np.append(x_horizon,lidar_horizon[i] * np.cos(radians(angles_horizon[i]))) 86 | y_horizon = np.append(y_horizon,lidar_horizon[i] * np.sin(radians(angles_horizon[i]))) 87 | 88 | ax.clear() 89 | plt.xlabel('distance[m]') 90 | plt.ylabel('distance[m]') 91 | plt.xlim((-1.0,1.0)) 92 | plt.ylim((-0.2,1.2)) 93 | plt.title('Lidar horizon') 94 | plt.axis('equal') 95 | ax.plot(x_horizon, y_horizon, 'b.', markersize = 8, label = 'obstacles') 96 | ax.plot(0, 0, 'r*', markersize = 20, label = 'robot') 97 | plt.legend(loc = 'lower right', shadow = True) 98 | plt.draw() 99 | plt.pause(0.0001) 100 | 101 | if sim_time > MAX_SIMULATION_TIME: 102 | now = datetime.now() 103 | dt_string_stop = now.strftime("%d/%m/%Y %H:%M:%S") 104 | print('\r\nSCAN NODE START ==> ', dt_string_start ,'\r\n') 105 | print('SCAN NODE STOP ==> ', dt_string_stop ,'\r\n') 106 | rospy.signal_shutdown('End of simulation') 107 | 108 | rate.sleep() 109 | 110 | except rospy.ROSInterruptException: 111 | now = datetime.now() 112 | dt_string_stop = now.strftime("%d/%m/%Y %H:%M:%S") 113 | print('\r\nSCAN NODE START ==> ', dt_string_start ,'\r\n') 114 | print('SCAN NODE STOP ==> ', dt_string_stop ,'\r\n') 115 | rospy.signal_shutdown('End of simulation') 116 | 117 | pass 118 | --------------------------------------------------------------------------------