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demo1.m
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demo1.m
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close all;
fol_num=4;
N=5; % 4follower and 1 leader
countmax=2000;
dt=0.1;
gama=1.5;%机器人之间的影响因子，过大容易造成过冲而抖动
beta=15;%障碍物影响因子
K0=1;
KN=0.2;
goal=[25 25];
m_count = 0;
is_arrive = 0;
% x最高速度m/s],y最高旋转速度[rad/s],x最高加速度[m/ss],y最高加速度[rad/ss]]
Kinematic=[0.7;0.7;0.4;0.4];
attmse(:,1) = [0;0;0;0;0;0];
error_distance = [0;0;0;0];
color='ybgcrkr'; %%%定义颜色标记
type=[2,1,0.5,0.5,2,2];%%%定义线的类型
start_time = clock;
%% 1-4行为follower 最后一行为leader
% A=[0 1 1 1 1; % a(ij)
% 0 0 0 0 1;
% 0 0 0 1 1;
% 0 0 1 0 1;
% 0 0 0 0 0];
A=[0 0 0 0 1; % a(ij)%%只考虑前面机器人的影响
1 0 0 0 1;
0 0 0 0 1;
0 0 1 0 1;
0 0 0 0 0];
%% 初始化 位置pose、速度V、加速度控制量control
% init_f=[-4.5 -1.5 0;%%%[x y th]
% -6 -1.5 pi/4;
% -4.5 -4.5 -pi/4;
% -6 -4.5 pi/2;
% -3 -3 0];
init_f=[-1.5 0 pi/4;%%%[x y th] %%队形切换 启动
-3 0 pi/4;
0 -1.5 pi/4;
0 -3 pi/4;
0 0 pi/4];
pose_x=init_f(:,1);
pose_y=init_f(:,2);
pose_th=init_f(:,3);
% ob_temp=[-10 1.2;
% -10 2;
% -10 12];
%%障碍物坐标[x y]
ob_temp=[10 9;10 14;13 12];
% ob_temp=ob_temp';
%% follower相对leader的位置
% delta_x=[-1.5 -3 -1.5 -3 0]; % 相对间隔误差
% delta_y=[1.5 1.5 -1.5 -1.5 0]; %领航者与自己无误差
delta_x=[-1.5 -3 0 0 0]; % 相对间隔误差
delta_y=[0 0 -1.5 -3 0]; %领航者与自己无误差
V_x(:,1)=[0;0;0;0;0];
V_y(:,1)=[0;0;0;0;0]; %%%leader在y方向的初始速度为1m/s
k=0;
d_max=2;
detect_R=1;
ideal_posex=init_f(:,1);
ideal_posey=init_f(:,2);
%% 开始循环 走顺时针圆周
for count=1:countmax
% if count == 400 %队形切换
% delta_x=[-1 -3 -2 -4 0]; % 相对间隔误差
% delta_y=[-1 -3 -2 -4 0]; %领航者与自己无误差
% end
% if count == 700 %队形切换
% delta_x=[-1.5 -3 0 0 0]; % 相对间隔误差
% delta_y=[0 0 -1.5 -3 0]; %领航者与自己无误差
% end
k=k+1;
% %%%做直线
% V_x(N,k+1)=V_x(N,k);
% V_y(N,k+1)=V_y(N,k);
% %%%做圆周
% V_x(N,k+1)=cos(k*dt);
% V_y(N,k+1)=sin(k*dt);
%%%朝目标点运动
distance=sqrt((goal(1)-pose_x(N,k))^2+(goal(2)-pose_y(N,k))^2);%领导者距离目标点的距离
th=atan2(goal(2)-pose_y(N,k),goal(1)-pose_x(N,k));%领导者与目标点之间的角度差
if distance>2 %将最大距离设置为2
distance=2;
end
V_x(N,k+1)=KN*distance*cos(th); %%设置x,y方向的速度
V_y(N,k+1)=KN*distance*sin(th);
mse_leader=0;
if(rem(k,5)==1&&k>1) %%暂时不知道rem是什么，没用
ideal_posex(N,(k-1)/5+1)=V_x(N,k+1)*dt*5+pose_x(N,k);
ideal_posey(N,(k-1)/5+1)=V_y(N,k+1)*dt*5+pose_y(N,k);
end
%% 领航者避障
%%%考虑冲突避免加上斥力
% kk=0;
% for j=1:N-1
% kk=kk+1;
% obs_pose(kk,1)=pose_x(j,k);
% obs_pose(kk,2)=pose_y(j,k);
% end
% ob_pose=[obs_pose;ob_temp];
ob_pose=ob_temp;
repulsion=compute_repulsion([pose_x(N,k),pose_y(N,k)],ob_pose,detect_R);
%%%%%
V_x(N,k+1)=V_x(N,k+1)+beta*repulsion(1);
V_y(N,k+1)=V_y(N,k+1)+beta*repulsion(2);
%%%出现局部极小的情况施加随机扰动
if(distance>1&&abs(V_x(N,k+1))<=0.1&&abs(V_y(N,k+1))<=0.1)
% V_x(N,k+1)=beta*(1+rand(1))*repulsion(1);
% V_y(N,k+1)=beta*(1+rand(1))*repulsion(2);
V_x(N,k+1)=-1+2*rand(1);
V_y(N,k+1)=-1+2*rand(1);
end
att_mse=[]; %%暂时不知道用来做什么，没用
if(rem(k,5)==1&&k>1)
attmse(N+1,(k-1)/5)=0;
for j=1:fol_num
att_mse(j) = cal_mse([pose_x(j,k),pose_y(j,k)],[ideal_posex(j,(k-1)/5),ideal_posey(j,(k-1)/5)]);
attmse(j,(k-1)/5) = abs(att_mse(j)-0.2);
attmse(N+1,(k-1)/5) = attmse(N+1,(k-1)/5) + abs(att_mse(j)-0.2);
end
end
%%跟随者运动
for i=1:fol_num %fol_num=4
sum_delta_x=0;
sum_delta_y=0;
for j=1:N %%考虑邻居对它的影响
sum_delta_x=sum_delta_x+A(i,j)*((pose_x(j,k)-pose_x(i,k))-(delta_x(j)-delta_x(i)));
sum_delta_y=sum_delta_y+A(i,j)*((pose_y(j,k)-pose_y(i,k))-(delta_y(j)-delta_y(i)));
end
% distance=[];
error_distance(i,k+1)=sqrt(sum_delta_x^2+ sum_delta_y^2);
th=atan2(sum_delta_y, sum_delta_x);
% if error_distance(i,k+1)>d_max
% error_distance(i,k+1)=d_max;
% end
V_x(i,k+1)=gama*error_distance(i,k+1)*cos(th);
V_y(i,k+1)=gama*error_distance(i,k+1)*sin(th);
% disp(['i is',num2str(i)]);%打印distance
% disp(['distance is',num2str(distance(i,k+1))]);%打印distance
% disp(['V_x1 is',num2str(V_x(1,k+1))]);
% disp(['V_y1 is',num2str(V_y(1,k+1))]);
if(rem(k,5)==1&&k>1)
ideal_posex(i,(k-1)/5+1)=V_x(i,k+1)*dt*5+pose_x(i,k);
ideal_posey(i,(k-1)/5+1)=V_y(i,k+1)*dt*5+pose_y(i,k);
end
%%%考虑冲突避免加上斥力
kk=0;
for j=1:N
if j~=i
kk=kk+1;
obs_pose(kk,1)=pose_x(j,k);
obs_pose(kk,2)=pose_y(j,k);
end
end
ob_pose=[obs_pose;ob_temp];
repulsion=compute_repulsion([pose_x(i,k),pose_y(i,k)],ob_pose,detect_R);
%%%%%
V_x(i,k+1)=K0*V_x(N,k)+V_x(i,k+1)+beta*repulsion(1);
V_y(i,k+1)=K0*V_y(N,k)+V_y(i,k+1)+beta*repulsion(2);
%%%跟随着出现局部极小的情况施加随机扰动
if(error_distance(i,k+1)>0.5&&abs(V_x(i,k+1))<=0.1&&abs(V_y(i,k+1))<=0.1&&distance>1)
V_x(i,k+1)=-1+2*rand(1);
V_y(i,k+1)=-1+2*rand(1);
disp(['distance is',num2str(error_distance(i,k+1))]);%打印distance
disp(['rand V_x is',num2str(V_x(i,k+1))]);
disp(['rand V_y is',num2str(V_y(i,k+1))]);
end
% % out=confine([V_x(i,k) V_y(i,k)],[V_x(i,k+1) V_y(i,k+1)],Kinematic);
% % V_x(i,k+1)=out(1);
% % V_y(i,k+1)=out(2);
end
%%
for i=1:N
out=confine([V_x(i,k) V_y(i,k)],[V_x(i,k+1) V_y(i,k+1)],Kinematic,0.1);
% out=[V_x(i,k+1) V_y(i,k+1)];
V_x(i,k+1)=out(1);
V_y(i,k+1)=out(2);
pose_x(i,k+1)=pose_x(i,k)+dt*V_x(i,k+1);
pose_y(i,k+1)=pose_y(i,k)+dt*V_y(i,k+1);
pose_th(i,k+1)=atan2(V_y(i,k+1),V_x(i,k+1));
end
if(rem(k,5)==1&&k>1)
mse_leader = cal_mse([pose_x(N,k),pose_y(N,k)],[ideal_posex(N,(k-1)/5),ideal_posey(N,(k-1)/5)]);
attmse(N,(k-1)/5)=mse_leader;
end
tt_x(1:4,k)=pose_x(5,k);
error_x(:,k)=tt_x(1:4,k)-pose_x(1:4,k)+(delta_x(1:4))';
tt_y(1:4,k)=pose_y(5,k);
error_y(:,k)=tt_y(1:4,k)-pose_y(1:4,k)+(delta_y(1:4))';
if(k==100)
bbb=1;
end
%% ====Animation====
area = compute_area(pose_x(N,k+1),pose_y(N,k+1),10);
hold off;
ArrowLength=0.7;%
for j=1:N
quiver(pose_x(j,k+1),pose_y(j,k+1),ArrowLength*cos(pose_th(j,k+1)),ArrowLength*sin(pose_th(j,k+1)),'.','color',color(1,j),'LineWidth',1.3);hold on;
draw_circle(pose_x(j,k+1),pose_y(j,k+1),0.1,j);hold on;
end
obn = size(ob_temp);
for i =1:obn
draw_square(ob_temp(i,1),ob_temp(i,2),0.2);hold on;
end
xlabel('x Position(m)');
ylabel('y Position(m)');
% plot(ob_temp(:,1),ob_temp(:,2),'xk','LineWidth',2);hold on;
x1 = [3,7,6,2];
y1 = [5,9,10,6];
x2 = [5,9,10,6];
y2 = [3,7,6,2];
% fill(x1,y1,'k') % 画填充图，填充区域为绿色
% fill(x2,y2,'k') % 画填充图，填充区域为绿色
% area=[-10 10 -10 10];
axis(area);
grid on;
drawnow;
%% 判断终止条件
now=[pose_x(N,k+1),pose_y(N,k+1)];
if norm(now-goal)<0.2
is_arrive = 1;
end_time = clock;
disp('Arrive Goal!!');break;
end
end
attmse(:,100)=[0;0;0;0;0;0];
for i=1:5
dmax(i)=max(attmse(i,1:99));
end
for i=1:5
if(dmax(i)>0.1)%排除一些噪声进行逐行归一化
attmse(i,1:99)=normalization(attmse(i,1:99),0,dmax(i),0,1);
else
attmse(i,1:99)=normalization(attmse(i,1:99),0,max(dmax(:)),0,1);
end
end
save('attmse.mat','attmse');
% label=svm(1) %用学习出来的model检测哪个机器人受到了攻击
% load('data.mat')
% b=attmse(1:5,:);
% a=[a;b];
% save('data.mat','a');
% xlswrite('attmse.xlsx',attmse);
%% 画图
figure
for i=1:N
plot(pose_x(i,:),pose_y(i,:),color(1,i),'LineWidth',2);
hold on
end
for i=1:N
plot(pose_x(i,1),pose_y(i,1),'p','color',color(1,i),'LineWidth',2);
hold on
draw_circle(pose_x(i,180),pose_y(i,180),0.2,i);hold on;
draw_circle(pose_x(i,490),pose_y(i,490),0.2,i);hold on;
draw_circle(pose_x(i,650),pose_y(i,650),0.2,i);hold on;
end
for i=1:N
plot(pose_x(i,k),pose_y(i,k),'h','color',color(1,i),'LineWidth',2);
hold on
end
for i =1:obn
draw_square(ob_temp(i,1),ob_temp(i,2),0.2);hold on;
end
% plot(ob_temp(:,1),ob_temp(:,2),'xk','LineWidth',2);hold on;
grid on;
xlabel('x');
ylabel('y');
legend('follower1','follower2','follower3','follower4','leader','Location','NorthWest');
xlabel('x Position(m)');
ylabel('y Position(m)');
% title('基于一致性的一阶编队算法');
title('基于拓扑图与跟随领导者法的五机器人编队避障控制算法');
%% 画误差图
cost_time = 3600*(end_time(4)-start_time(4)) + 60 * (end_time(5)-start_time(5)) + (end_time(6) - start_time(6));
kx=cost_time/k;
cx=0:kx:cost_time;
figure % 生成三维平面图 连续
error=sqrt(error_x.^2+error_y.^2);
for i=1:4
plot(cx(1:k-1),error(i,1:k-1),color(1,i),'LineWidth',1.5);
hold on;
end
legend('follower1','follower2','follower3','follower4');
xlabel('时间(s)');
ylabel('位置误差(m)');
title('五机器人编队避障各机器人仿真误差曲线');
% attmse
% cx=0:0.5:k/10;
% temp_xy = floor(min(k/5-1,(length(attmse)-1)));
% figure % 生成三维平面图 连续
% for i=1:5
% plot(cx(1:temp_xy),attmse(i,1:temp_xy),color(1,i),'LineWidth',type(i));
% hold on;
% end
% legend('跟随者1','跟随者2','跟随者3','跟随者4','领航者');
% xlabel('时间(s)');
% ylabel('AO');
% title('无攻击下各机器人的AO曲线');
% cx=0:0.5:k/10;
% figure % 生成三维平面图 连续
% plot(cx(1:temp_xy),attmse(N+1,1:temp_xy),color(1,N+1),'LineWidth',type(N+1));
% hold on;
% xlabel('时间(s)');
% ylabel('AO');
% title('无攻击情况下编队节点的AO之和');
% end
function [ next] = confine(current,next,Kinematic,dt)
%%%current=[v_x v_y];
%%%%Kinematic=[ x最高速度m/s],y最高速度[m/s],x最高加速度[m/ss],y最高加速度[m/ss]]
%%%Kinematic=[1;1;0.5;0.5];
%% 速度x上的限制
delta_x=next(1)-current(1);
if delta_x>=0
next(1)=min(current(1)+delta_x,current(1)+Kinematic(3)*dt);
else
next(1)=max(current(1)+delta_x,current(1)-Kinematic(3)*dt);
end
if next(1)>=0
next(1)=min(next(1),Kinematic(1));
else
next(1)=max(next(1),-Kinematic(1));
end
%% 速度y上的限制
delta_y=next(2)-current(2);
if delta_y>=0
next(2)=min(current(2)+delta_y,current(2)+Kinematic(4)*dt);
else
next(2)=max(current(2)+delta_y,current(2)-Kinematic(4)*dt);
end
if next(2)>=0
next(2)=min(next(2),Kinematic(2));
else
next(2)=max(next(2),-Kinematic(2));
end
end