Merge pull request AtsushiSakai#107 from daniel-s-ingram/master

AtsushiSakai · web-flow · commit 03811e695f66 · 2018-10-02T20:58:28.000+09:00
Robotic arm navigating obstacles with A*
diff --git a/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py b/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py
@@ -0,0 +1,244 @@
+"""
+Obstacle navigation using A* on a toroidal grid
+
+Author: Daniel Ingram (daniel-s-ingram)
+"""
+from math import pi
+import numpy as np
+import matplotlib.pyplot as plt
+from matplotlib.colors import from_levels_and_colors
+
+plt.ion()
+
+#Simulation parameters
+M = 100
+obstacles = [[1.75, 0.75, 0.6], [0.55, 1.5, 0.5], [0, -1, 0.25]]
+
+def main():
+    arm = NLinkArm([1, 1], [0, 0])
+    grid = get_occupancy_grid(arm, obstacles)
+    plt.imshow(grid)
+    plt.show()
+    #(50,50) (58,56)
+    route = astar_torus(grid, (10, 50), (58, 56))
+    for node in route:
+        theta1 = 2*pi*node[0]/M-pi
+        theta2 = 2*pi*node[1]/M-pi
+        arm.update_joints([theta1, theta2])
+        arm.plot(obstacles=obstacles)
+
+def detect_collision(line_seg, circle):
+    """
+    Determines whether a line segment (arm link) is in contact
+    with a circle (obstacle).
+    Credit to: http://doswa.com/2009/07/13/circle-segment-intersectioncollision.html
+    Args:
+        line_seg: List of coordinates of line segment endpoints e.g. [[1, 1], [2, 2]]
+        circle: List of circle coordinates and radius e.g. [0, 0, 0.5] is a circle centered
+                at the origin with radius 0.5
+
+    Returns:
+        True if the line segment is in contact with the circle
+        False otherwise
+    """
+    a_vec = np.array([line_seg[0][0], line_seg[0][1]])
+    b_vec = np.array([line_seg[1][0], line_seg[1][1]])
+    c_vec = np.array([circle[0], circle[1]])
+    radius = circle[2]
+    line_vec = b_vec - a_vec
+    line_mag = np.linalg.norm(line_vec)
+    circle_vec = c_vec - a_vec
+    proj = circle_vec.dot(line_vec/line_mag)
+    if proj <= 0:
+        closest_point = a_vec
+    elif proj >= line_mag:
+        closest_point = b_vec
+    else:
+        closest_point = a_vec + line_vec*proj/line_mag
+    if np.linalg.norm(closest_point-c_vec) > radius:
+        return False
+    else:
+        return True
+
+def get_occupancy_grid(arm, obstacles):
+    """
+    Discretizes joint space into M values from -pi to +pi
+    and determines whether a given coordinate in joint space
+    would result in a collision between a robot arm and obstacles
+    in its environment.
+
+    Args:
+        arm: An instance of NLinkArm
+        obstacles: A list of obstacles, with each obstacle defined as a list
+                   of xy coordinates and a radius. 
+
+    Returns:
+        Occupancy grid in joint space
+    """
+    grid = [[0 for _ in range(M)] for _ in range(M)]
+    theta_list = [2*i*pi/M for i in range(-M//2, M//2+1)]
+    for i in range(M):
+        for j in range(M):
+            arm.update_joints([theta_list[i], theta_list[j]])
+            points = arm.points
+            collision_detected = False
+            for k in range(len(points)-1):
+                for obstacle in obstacles:
+                    line_seg = [points[k], points[k+1]]
+                    collision_detected = detect_collision(line_seg, obstacle)
+                    if collision_detected:
+                        break
+                if collision_detected:
+                        break
+            grid[i][j] = int(collision_detected)
+    return np.array(grid)
+
+def astar_torus(grid, start_node, goal_node):
+    """
+    Finds a path between an initial and goal joint configuration using
+    the A* Algorithm on a tororiadal grid.
+
+    Args:
+        grid: An occupancy grid (ndarray)
+        start_node: Initial joint configuation (tuple)
+        goal_node: Goal joint configuration (tuple)
+
+    Returns:
+        Obstacle-free route in joint space from start_node to goal_node
+    """
+    colors = ['white', 'black', 'red', 'pink', 'yellow', 'green', 'orange']
+    levels = [0, 1, 2, 3, 4, 5, 6, 7]
+    cmap, norm = from_levels_and_colors(levels, colors)
+
+    grid[start_node] = 4
+    grid[goal_node] = 5
+
+    parent_map = [[() for _ in range(M)] for _ in range(M)]
+
+    X, Y = np.meshgrid([i for i in range(M)], [i for i in range(M)])
+    heuristic_map = np.abs(X - goal_node[1]) + np.abs(Y - goal_node[0])
+    for i in range(heuristic_map.shape[0]):
+        for j in range(heuristic_map.shape[1]):
+            heuristic_map[i,j] = min(heuristic_map[i,j],
+                                     i + 1 + heuristic_map[M-1,j],
+                                     M - i + heuristic_map[0,j],
+                                     j + 1 + heuristic_map[i,M-1],
+                                     M - j + heuristic_map[i,0]
+                                     )
+
+    explored_heuristic_map = np.full((M, M), np.inf)
+    distance_map = np.full((M, M), np.inf)
+    explored_heuristic_map[start_node] = heuristic_map[start_node]
+    distance_map[start_node] = 0
+    while True:
+        grid[start_node] = 4
+        grid[goal_node] = 5
+
+        current_node = np.unravel_index(np.argmin(explored_heuristic_map, axis=None), explored_heuristic_map.shape)
+        min_distance = np.min(explored_heuristic_map)
+        if (current_node == goal_node) or np.isinf(min_distance):
+            break
+
+        grid[current_node] = 2
+        explored_heuristic_map[current_node] = np.inf
+
+        i, j = current_node[0], current_node[1]
+
+        neighbors = []
+        if i-1 >= 0: 
+            neighbors.append((i-1, j))
+        else:
+            neighbors.append((M-1, j))
+
+        if i+1 < M:
+            neighbors.append((i+1, j))
+        else:
+            neighbors.append((0, j))
+
+        if j-1 >= 0:
+            neighbors.append((i, j-1))
+        else:
+            neighbors.append((i, M-1))
+
+        if j+1 < M:
+            neighbors.append((i, j+1))
+        else:
+            neighbors.append((i, 0))
+
+        for neighbor in neighbors:
+            if grid[neighbor] == 0 or grid[neighbor] == 5:
+                distance_map[neighbor] = distance_map[current_node] + 1
+                explored_heuristic_map[neighbor] = heuristic_map[neighbor]
+                parent_map[neighbor[0]][neighbor[1]] = current_node
+                grid[neighbor] = 3
+        '''
+        plt.cla()
+        plt.imshow(grid, cmap=cmap, norm=norm, interpolation=None)
+        plt.show()
+        plt.pause(1e-5)
+        '''
+
+    if np.isinf(explored_heuristic_map[goal_node]):
+        route = []
+        print("No route found.")
+    else:
+        route = [goal_node]
+        while parent_map[route[0][0]][route[0][1]] is not ():
+            route.insert(0, parent_map[route[0][0]][route[0][1]])
+
+        print("The route found covers %d grid cells." % len(route))
+        for i in range(1, len(route)):
+            grid[route[i]] = 6
+            plt.cla()
+            plt.imshow(grid, cmap=cmap, norm=norm, interpolation=None)
+            plt.show()
+            plt.pause(1e-2)
+
+    return route
+
+class NLinkArm(object):
+    """
+    Class for controlling and plotting a planar arm with an arbitrary number of links.
+    """
+    def __init__(self, link_lengths, joint_angles):
+        self.n_links = len(link_lengths)
+        if self.n_links is not len(joint_angles):
+            raise ValueError()
+
+        self.link_lengths = np.array(link_lengths)
+        self.joint_angles = np.array(joint_angles)
+        self.points = [[0, 0] for _ in range(self.n_links+1)]
+
+        self.lim = sum(link_lengths)
+        self.update_points()
+
+    def update_joints(self, joint_angles):
+        self.joint_angles = joint_angles
+        self.update_points()
+
+    def update_points(self):
+        for i in range(1, self.n_links+1):
+            self.points[i][0] = self.points[i-1][0] + self.link_lengths[i-1]*np.cos(np.sum(self.joint_angles[:i]))
+            self.points[i][1] = self.points[i-1][1] + self.link_lengths[i-1]*np.sin(np.sum(self.joint_angles[:i]))
+
+        self.end_effector = np.array(self.points[self.n_links]).T
+
+    def plot(self, obstacles=[]):
+        plt.cla()
+
+        for obstacle in obstacles:
+            circle = plt.Circle((obstacle[0], obstacle[1]), radius=0.5*obstacle[2], fc='k')
+            plt.gca().add_patch(circle)
+
+        for i in range(self.n_links+1):
+            if i is not self.n_links:
+                plt.plot([self.points[i][0], self.points[i+1][0]], [self.points[i][1], self.points[i+1][1]], 'r-')
+            plt.plot(self.points[i][0], self.points[i][1], 'k.')
+
+        plt.xlim([-self.lim, self.lim])
+        plt.ylim([-self.lim, self.lim])
+        plt.draw()
+        plt.pause(1e-5)
+
+if __name__ == '__main__':
+    main()
