control_motion.c

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
 
#include <math.h>
#include <stdio.h>
#include <strings.h>
#include <unistd.h>
 
#include <stdint.h>
#include <stdlib.h>
#include <time.h>
#include <unistd.h>
 
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <sys/types.h>
#include <time.h>
 
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif  // HAVE_CONFIG_H
 
/* ボディパラメータ */
#include <shvel-param.h>
 
/* yp-spur用 */
#include <serial.h>
#include <param.h>
#include <control.h>
#include <command.h>
 
/* ライブラリ用 */
#include <ypspur.h>
 
/*-PI < theta < PIに調整する*/
double trans_q(double theta)
{
  while (theta > M_PI)
    theta -= 2.0 * M_PI;
  while (theta < -M_PI)
    theta += 2.0 * M_PI;
  return theta;
}
 
/* 円弧追従 */
double circle_follow(OdometryPtr odm, SpurUserParamsPtr spur)
{
  double d, q, r, ang, rad;
 
  r = sqrt((spur->x - odm->x) * (spur->x - odm->x) + (spur->y - odm->y) * (spur->y - odm->y));
 
  ang = atan2((odm->y - spur->y), (odm->x - spur->x));
  ang = trans_q(ang);
 
  // レギュレータ問題に変換
  d = fabs(spur->radius) - r;
  q = trans_q(odm->theta - (ang + SIGN(spur->radius) * (M_PI / 2.0)));
 
  if (r < fabs(spur->radius))
  {
    rad = spur->radius;
  }
  else
  {
    rad = SIGN(spur->radius) * r;
  }
 
  return regurator(d, q, rad, spur->v, spur->w, spur);
}
 
/* 直線追従 */
double line_follow(OdometryPtr odm, SpurUserParamsPtr spur)
{
  double d, q;
 
  d = (spur->x - odm->x) * sin(spur->theta) - (spur->y - odm->y) * cos(spur->theta);
  q = odm->theta - spur->theta;
  q = trans_q(q);
 
  return regurator(d, q, 1000, spur->v, spur->w, spur);
  // 1000は無限大のつもり(1km)
}
 
/* 軌跡追従レギュレータ */
double regurator(double d, double q, double r, double v_max, double w_max, SpurUserParamsPtr spur)
{
  double v, w;
  double cd;
  double wref;
 
  v = v_max - SIGN(v_max) * p(YP_PARAM_L_C1, 0) * fabs(spur->wref);
  if (v * v_max < 0)
    v = 0;
 
  wref = v / r;
  if (wref > fabs(w_max))
    wref = fabs(w_max);
  else if (wref < -fabs(w_max))
    wref = -fabs(w_max);
 
  cd = d;
  if (cd > p(YP_PARAM_L_DIST, 0))
    cd = p(YP_PARAM_L_DIST, 0);
  if (cd < -p(YP_PARAM_L_DIST, 0))
    cd = -p(YP_PARAM_L_DIST, 0);
  w = spur->wref_smooth -
      spur->control_dt * (SIGN(r) * SIGN(v_max) * p(YP_PARAM_L_K1, 0) * cd +
                          p(YP_PARAM_L_K2, 0) * q + p(YP_PARAM_L_K3, 0) * (spur->wref_smooth - wref));
 
  spur->vref = v;
  spur->wref = w;
  return d;
}
 
/* 回転 */
double spin(OdometryPtr odm, SpurUserParamsPtr spur)
{
  double w, theta;
  double dt;
 
  dt = p(YP_PARAM_CONTROL_CYCLE, 0) * 1.5;
  theta = odm->theta + spur->wref_smooth * dt;
  w = timeoptimal_servo(
      trans_q(theta - spur->theta),
      spur->w,
      0,
      spur->dw);
 
  spur->wref = w;
  spur->vref = 0;
  return fabs(odm->theta - spur->theta);
}
 
/* 方角 */
double orient(OdometryPtr odm, SpurUserParamsPtr spur)
{
  double w, theta;
  double dt;
 
  dt = p(YP_PARAM_CONTROL_CYCLE, 0) * 1.5;
  theta = odm->theta + spur->wref_smooth * dt;
  w = timeoptimal_servo(
      trans_q(theta - spur->theta),
      spur->w,
      0,
      spur->dw);
 
  spur->wref = w;
  spur->vref = spur->v;
  return fabs(odm->theta - spur->theta);
}
 
/* 点までの距離 */
double dist_pos(OdometryPtr odm, SpurUserParamsPtr spur)
{
  double r;
  r = sqrt((spur->x - odm->x) * (spur->x - odm->x) + (spur->y - odm->y) * (spur->y - odm->y));
 
  return r;
}
 
/* 直線まで移動し止まる */
int stop_line(OdometryPtr odm, SpurUserParamsPtr spur)
{
  double a;
  double q;
  double vel;
  int over;
  double x, y;
  double dt;
 
  dt = p(YP_PARAM_CONTROL_CYCLE, 0) * 1.5;
  x = odm->x + spur->vref_smooth * cos(odm->theta) * dt;
  y = odm->y + spur->vref_smooth * sin(odm->theta) * dt;
 
  a = (x - spur->x) * cos(spur->theta) + (y - spur->y) * sin(spur->theta);
  vel = timeoptimal_servo(
      a,
      spur->v,
      0,
      spur->dv);
  over = 0;
 
  q = odm->theta - spur->theta;
  q = trans_q(q);
  regurator(0, q, 1000, vel, spur->w, spur);
 
  if (a > 0.05)
  {
    // 越えている
    over = 3;
  }
  else if (a < -0.05)
  {
    // まだ
    over = 1;
  }
  else
  {
    // 大体乗った
    over = 2;
  }
  return over;
}
 
double timeoptimal_servo(double err, double vel_max, double vel, double acc)
{
  double vel_ref_next;
  double v;
  double _err;
 
  _err = err + vel * p(YP_PARAM_CONTROL_CYCLE, 0) * 1.5;
  if (_err * err < 0)
    _err = 0;
 
  // 次の目標位置で停止するために必要な現在の速度を計算
  v = sqrt(2 * acc * fabs(_err));
  if (vel_max < v)
  {
    vel_ref_next = -SIGN(_err) * fabs(vel_max);
  }
  else
  {
    vel_ref_next = -SIGN(_err) * v;
  }
 
  // 次の制御周期で目標値をこえてしまう場合をクリップ
  if ((err + vel_ref_next * p(YP_PARAM_CONTROL_CYCLE, 0) * 1.5) * (err) < 0)
  {
    vel_ref_next = -err / p(YP_PARAM_CONTROL_CYCLE, 0);
  }
  return vel_ref_next;
}
 
double timeoptimal_servo2(double err, double vel_max, double vel, double acc, double vel_end)
{
  double v;
  double _err;
  double _vel_max;
 
  _err = err + vel * p(YP_PARAM_CONTROL_CYCLE, 0) * 1.5;
 
  v = sqrt(vel_end * vel_end + 2 * acc * fabs(_err));
 
  if (fabs(vel_max) < fabs(vel_end))
  {
    if (fabs(err) < (vel_end * vel_end - vel_max * vel_max) / (2.0 * acc))
      _vel_max = fabs(vel_end);
    else
      _vel_max = vel_max;
  }
  else
    _vel_max = vel_max;
 
  if (_vel_max < v)
  {
    v = _vel_max;
  }
  if (_err > 0)
  {
    v = -v;
  }
 
  return v;
}