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matlab_3_7_uav_target_tracking_mc_simulations.m
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matlab_3_7_uav_target_tracking_mc_simulations.m
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% MIT License
%
% Copyright (c) 2022 Jongrae.K
%
% 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.
clear;
%% input variables
% initial uav position
xa0 = (2*rand(1)-1)*100; %[m]
ya0 = (2*rand(1)-1)*100; %[m]
% initial uav velocity
tha0 = rand(1)*2*pi; %[radian]
current_speed = 25; %[m/s]
vxa0 = current_speed*cos(tha0);
vya0 = current_speed*sin(tha0);
% control acceleration input magnitude constraints
ux_max = 10; % [m/s^2]
ux_min = -1; % [m/s^2]
uy_max = 2; % [m/s^2]
uy_min = -2; % [m/s^2]
% uav minimum & maximum speed
v_max = 40; % [m/s]
v_min = 20; % [m/s]
% initial target position
xt0 = (2*rand(1)-1)*200; %[m]
yt0 = (2*rand(1)-1)*200; %[m]
% target maximum speed
w_max = 60*1e3/3600; %[m/s]
% uav flying path curvature constraint
r_min = 400; %[m]
% number of samples for the control search on the boundary
n_sample = 100;
% time interval for the cost approximation
Dt = 2; % [seconds]
%--------------------------------------------------------------
%% main part of monte-carlo simulations
%--------------------------------------------------------------
N_sim = 180;
% optimal control input error
opt_costh_err = zeros(1,N_sim-1);
opt_mag_err = zeros(1,N_sim-1);
% aircraft & target dynamics
Fa = eye(4) + [zeros(2) Dt*eye(2); zeros(2,4)];
Ga = [zeros(2); Dt*eye(2)];
Ft = eye(2);
Gt = Dt*eye(2);
state_uav = [xa0 ya0 vxa0 vya0]';
state_target = [xt0 yt0]';
uav_pos = [xa0 ya0];
target_pos = [xt0 yt0];
uxy_opt_global = [0 0];
w_zero_one = zeros(2,2);
figure(1); clf;
uav_line = animatedline('Color','b');
axis([-1 1 -1 1]*2000);
axis equal
%F(N_sim) = struct('cdata',[],'colormap',[]);
for idx_sim = 1:N_sim
fprintf('%d/%d\n',idx_sim,N_sim);
% save previous state
state_minus = [xa0 ya0 vxa0 vya0 xt0 yt0 uxy_opt_global(:)'];
% uav optimal input
state_aircraft_tracking.aircraft = [xa0 ya0 vxa0 vya0 ux_min ux_max uy_min uy_max v_min v_max];
state_aircraft_tracking.tracking = [xt0 yt0 w_max r_min n_sample Dt];
[uxy_opt_global, uxy_opt_body, ux0_sample, uy0_sample, dcm_from_body_to_global] = ...
uav_optimal_tracking_control(state_aircraft_tracking);
% % use the trivial immediate target direction acceleration
% % make the control input constraint polygon
% polygon_points = [ux0_sample(:)'; uy0_sample(:)'];
% polygon_center = mean(polygon_points,2);
% pc_vector = polygon_points-polygon_center ;
% th_pc = atan2(pc_vector(2,:),pc_vector(1,:));
% [th_pc, idx_pc] = sort(th_pc);
% polygon_points = polygon_points(:,idx_pc);
% polygon_points = [polygon_points polygon_points(:,1)];
% %plot(polygon_points(1,:), polygon_points(2,:), '.-r');
%
% target_direction = [xt0 yt0] - [xa0 ya0];
% % make the length long enough to go outside the polygon
% target_direction = (2*ux_max)*target_direction/norm(target_direction);
% % fine the intersection
% [uxi,uyj] = polyxpoly([0 target_direction(1)],[0 target_direction(2)], ...
% polygon_points(1,:),polygon_points(2,:));
% if isempty(uxi)
% uxi=0; uyj=0;
% end
% uxy_opt_global = [uxi uyj]';
% uxy_opt_body = dcm_from_body_to_global'*uxy_opt_global;
% target maximum random direction input
rand_th = 2*pi*rand(1);
wx0 = w_max*cos(rand_th);
wy0 = w_max*sin(rand_th);
% state propagation
state_uav = Fa*state_uav + Ga*uxy_opt_global(:);
state_target = Ft*state_target + Gt*[wx0; wy0];
% reset state variables
xa0 = state_uav(1);
ya0 = state_uav(2);
vxa0 = state_uav(3);
vya0 = state_uav(4); rand_th = 2*pi*rand(1);
wx0 = w_max*cos(rand_th);
wy0 = w_max*sin(rand_th);
xt0 = state_target(1);
yt0 = state_target(2);
% update the plot
figure(1);
addpoints(uav_line,xa0,ya0);
hold on;
plot(xt0,yt0,'r.');
hold off;
%F(idx_sim) = getframe(gcf);
pause(0.01);
if mod(idx_sim,600)==0
keyboard;
figure(1); clf;
uav_line = animatedline('Color','b');
axis([-1 1 -1 1]*2000);
axis equal
end
% save previous and current input
w_zero_one = [w_zero_one(2,:); wx0 wy0];
if idx_sim > 2
xa0_minus = state_minus(1);
ya0_minus = state_minus(2);
vxa0_minus = state_minus(3);
vya0_minus = state_minus(4);
xt0_minus = state_minus(5);
yt0_minus = state_minus(6);
uxy0_minus = state_minus(7:8);
state_aircraft_target.aircraft = [xa0_minus ya0_minus vxa0_minus vya0_minus Dt];
state_aircraft_target.target = [xt0_minus yt0_minus w_zero_one(1,:) w_zero_one(2,:)];
uxy_opt_true = calculate_original_cost(state_aircraft_target, ux0_sample, uy0_sample);
uu_dot = uxy0_minus(:)'*uxy_opt_true(:);
uxy0_minus_norm = norm(uxy0_minus);
uxy_opt_true_norm = norm(uxy_opt_true);
opt_costh_err(idx_sim-1) = uu_dot/(uxy0_minus_norm*uxy_opt_true_norm);
opt_mag_err(idx_sim-1) = uxy0_minus_norm/uxy_opt_true_norm;
end
end
rand_th = 2*pi*rand(1);
wx0 = w_max*cos(rand_th);
wy0 = w_max*sin(rand_th);
figure(2); clf;
subplot(211);
h1=histogram(opt_costh_err);
h1.Normalization='probability';
subplot(212);
h2=histogram(opt_mag_err);
h2.Normalization='probability';
%--------------------------------------------------------------
%% funciton: optimal target tracking control
%--------------------------------------------------------------
function [uxy_opt_global, uxy_opt_body, ux0_sample, uy0_sample, dcm_from_body_to_global] = ...
uav_optimal_tracking_control(state_aircraft_tracking)
aircraft = state_aircraft_tracking.aircraft;
tracking = state_aircraft_tracking.tracking;
xa0 = aircraft(1);
ya0 = aircraft(2);
vxa0 = aircraft(3);
vya0 = aircraft(4);
ux_min = aircraft(5);
ux_max = aircraft(6);
uy_min = aircraft(7);
uy_max = aircraft(8);
v_min = aircraft(9);
v_max = aircraft(10);
current_speed = sqrt(vxa0^2+vya0^2);
xt0 = tracking(1);
yt0 = tracking(2);
w_max = tracking(3);
r_min = tracking(4);
n_sample = tracking(5);
Dt = tracking(6);
J_cost_uxuy0_function = @(Dt,ux0,uy0,vxa0,vya0,w_max,xa0,xt0,ya0,yt0)xa0.*xt0.*-4.0-ya0.*yt0.*4.0+xa0.^2.*2.0+xt0.^2.*2.0+Dt.^4.*ux0.^2+Dt.^4.*uy0.^2+ya0.^2.*2.0+yt0.^2.*2.0+Dt.^2.*vxa0.^2.*5.0+Dt.^2.*vya0.^2.*5.0+Dt.^2.*w_max.^2.*2.0-abs(Dt).*abs(w_max).*sqrt(xa0.*xt0.*-8.0-ya0.*yt0.*8.0+xa0.^2.*4.0+xt0.^2.*4.0+Dt.^4.*ux0.^2+Dt.^4.*uy0.^2+ya0.^2.*4.0+yt0.^2.*4.0+Dt.^2.*vxa0.^2.*9.0+Dt.^2.*vya0.^2.*9.0+Dt.*vxa0.*xa0.*1.2e+1-Dt.*vxa0.*xt0.*1.2e+1+Dt.*vya0.*ya0.*1.2e+1-Dt.*vya0.*yt0.*1.2e+1+Dt.^3.*ux0.*vxa0.*6.0+Dt.^3.*uy0.*vya0.*6.0+Dt.^2.*ux0.*xa0.*4.0-Dt.^2.*ux0.*xt0.*4.0+Dt.^2.*uy0.*ya0.*4.0-Dt.^2.*uy0.*yt0.*4.0).*2.0+Dt.*vxa0.*xa0.*6.0-Dt.*vxa0.*xt0.*6.0+Dt.*vya0.*ya0.*6.0-Dt.*vya0.*yt0.*6.0+Dt.^3.*ux0.*vxa0.*4.0+Dt.^3.*uy0.*vya0.*4.0+Dt.^2.*ux0.*xa0.*2.0-Dt.^2.*ux0.*xt0.*2.0+Dt.^2.*uy0.*ya0.*2.0-Dt.^2.*uy0.*yt0.*2.0;
% body and global coordinates transfrom dcm
th_flight = atan2(vya0,vxa0);
dcm_from_body_to_global = [cos(th_flight) -sin(th_flight); sin(th_flight) cos(th_flight)];
% check the curvature constraint in the body frame
u_curvature = current_speed^2/r_min;
if u_curvature < uy_max
% active constraint & replace the uy bound
uy_max = u_curvature;
uy_min = -u_curvature;
end
% active the maximum velocity constraint
vmax_active = false;
if current_speed/Dt+ux_max > v_max/Dt
ux_max = -current_speed/Dt+sqrt((v_max/Dt)^2-uy_max^2);
vmax_active = true;
end
% active the minimum velocity constraint
vmin_active = false;
if current_speed/Dt+ux_min < v_min/Dt
ux_min = -current_speed/Dt+sqrt((v_min/Dt)^2-uy_max^2);
vmin_active = true;
end
% find the optimal solution along the boundary
ux_sample = linspace(ux_min, ux_max, n_sample);
upper_line = [ux_sample; ones(1,n_sample)*uy_max];
lower_line = [ux_sample; ones(1,n_sample)*uy_min];
if vmax_active
ux_sample = linspace(ux_max,(v_max-current_speed)/Dt,n_sample);
uy_sample = sqrt((v_max/Dt)^2-(ux_sample+current_speed/Dt).^2);
right_line = [ux_sample ux_sample(end-1:-1:1); uy_sample -uy_sample(end-1:-1:1)];
else
uy_sample = linspace(uy_min,uy_max,n_sample);
right_line = [ones(1,n_sample)*ux_max; uy_sample];
end
if vmin_active
ux_sample = linspace(ux_min,(v_min-current_speed)/Dt,n_sample);
uy_sample = sqrt((v_min/Dt)^2-(ux_sample+current_speed/Dt).^2);
left_line = [ux_sample ux_sample(end-1:-1:1); uy_sample -uy_sample(end-1:-1:1)];
else
uy_sample = linspace(uy_min,uy_max,n_sample);
left_line = [ones(1,n_sample)*ux_min; uy_sample];
end
all_samples_in_body_frame = [upper_line lower_line right_line left_line];
all_samples_in_global_frame = dcm_from_body_to_global*all_samples_in_body_frame;
ux0_sample = all_samples_in_global_frame(1,:);
uy0_sample = all_samples_in_global_frame(2,:);
J_val = J_cost_uxuy0_function(Dt,ux0_sample,uy0_sample,vxa0,vya0,w_max,xa0,xt0,ya0,yt0);
[J_val_opt,opt_idx]=min(J_val);
uxy_opt_body = all_samples_in_body_frame(:,opt_idx);
uxy_opt_global = all_samples_in_global_frame(:,opt_idx);
% check the cost function inside the constraint
polygon_points = [ux0_sample(:)'; uy0_sample(:)'];
polygon_center = mean(polygon_points,2);
pc_vector = polygon_points-polygon_center ;
th_pc = atan2(pc_vector(2,:),pc_vector(1,:));
[~, idx_pc] = sort(th_pc);
polygon_points = polygon_points(:,idx_pc);
polygon_points = [polygon_points polygon_points(:,1)];
n_inside_sample = 1000;
x_sample = min(polygon_points(1,:)) + ...
(max(polygon_points(1,:))-min(polygon_points(1,:)))*rand(1,n_inside_sample);
y_sample = min(polygon_points(2,:)) + ...
(max(polygon_points(2,:))-min(polygon_points(2,:)))*rand(1,n_inside_sample);
[in,~] = inpolygon(x_sample,y_sample,polygon_points(1,:),polygon_points(2,:));
x_sample = x_sample(in);
y_sample = y_sample(in);
J_val_inside = J_cost_uxuy0_function(Dt,x_sample,y_sample,vxa0,vya0,w_max,xa0,xt0,ya0,yt0);
J_val_inside = J_val_inside(J_val_inside<J_val_opt);
if ~isempty(J_val_inside)
[~,min_idx] = min(J_val_inside);
J_cost_minimize=@(x)J_cost_uxuy0_function(Dt,x(1),x(2),vxa0,vya0,w_max,xa0,xt0,ya0,yt0);
dJdux0_fun=@(Dt,ux0,uy0,vxa0,vya0,w_max,xa0,xt0,ya0,yt0)Dt.^4.*ux0.*2.0+Dt.^3.*vxa0.*4.0+Dt.^2.*xa0.*2.0-Dt.^2.*xt0.*2.0-Dt.^2.*abs(Dt).*abs(w_max).*(xa0.*2.0-xt0.*2.0+Dt.*vxa0.*3.0+Dt.^2.*ux0).*1.0./sqrt(xa0.*xt0.*-8.0-ya0.*yt0.*8.0+xa0.^2.*4.0+xt0.^2.*4.0+Dt.^4.*ux0.^2+Dt.^4.*uy0.^2+ya0.^2.*4.0+yt0.^2.*4.0+Dt.^2.*vxa0.^2.*9.0+Dt.^2.*vya0.^2.*9.0+Dt.*vxa0.*xa0.*1.2e+1-Dt.*vxa0.*xt0.*1.2e+1+Dt.*vya0.*ya0.*1.2e+1-Dt.*vya0.*yt0.*1.2e+1+Dt.^3.*ux0.*vxa0.*6.0+Dt.^3.*uy0.*vya0.*6.0+Dt.^2.*ux0.*xa0.*4.0-Dt.^2.*ux0.*xt0.*4.0+Dt.^2.*uy0.*ya0.*4.0-Dt.^2.*uy0.*yt0.*4.0).*2.0;
dJduy0_fun=@(Dt,ux0,uy0,vxa0,vya0,w_max,xa0,xt0,ya0,yt0)Dt.^4.*uy0.*2.0+Dt.^3.*vya0.*4.0+Dt.^2.*ya0.*2.0-Dt.^2.*yt0.*2.0-Dt.^2.*abs(Dt).*abs(w_max).*(ya0.*2.0-yt0.*2.0+Dt.*vya0.*3.0+Dt.^2.*uy0).*1.0./sqrt(xa0.*xt0.*-8.0-ya0.*yt0.*8.0+xa0.^2.*4.0+xt0.^2.*4.0+Dt.^4.*ux0.^2+Dt.^4.*uy0.^2+ya0.^2.*4.0+yt0.^2.*4.0+Dt.^2.*vxa0.^2.*9.0+Dt.^2.*vya0.^2.*9.0+Dt.*vxa0.*xa0.*1.2e+1-Dt.*vxa0.*xt0.*1.2e+1+Dt.*vya0.*ya0.*1.2e+1-Dt.*vya0.*yt0.*1.2e+1+Dt.^3.*ux0.*vxa0.*6.0+Dt.^3.*uy0.*vya0.*6.0+Dt.^2.*ux0.*xa0.*4.0-Dt.^2.*ux0.*xt0.*4.0+Dt.^2.*uy0.*ya0.*4.0-Dt.^2.*uy0.*yt0.*4.0).*2.0;
dJduxy=@(x)[dJdux0_fun(Dt,x(1),x(2),vxa0,vya0,w_max,xa0,xt0,ya0,yt0);
dJduy0_fun(Dt,x(1),x(2),vxa0,vya0,w_max,xa0,xt0,ya0,yt0)];
s_amj = 0.01;
alpha_amj = s_amj; beta_amj = 0.5; sigma_amj = 1e-5;
u_xy_current = [ux0_sample(min_idx) uy0_sample(min_idx)];
J_current = J_cost_minimize(u_xy_current);
dJdu = dJduxy(u_xy_current);
while true
u_xy_update = u_xy_current - alpha_amj*dJdu(:)';
J_update = J_cost_minimize(u_xy_update);
if J_update < (J_current + sigma_amj*alpha_amj*sum(dJdu.^2))
if norm(u_xy_current-u_xy_update)<1e-6
break
end
alpha_amj = s_amj;
J_current = J_cost_minimize(u_xy_update);
dJdu = dJduxy(u_xy_update);
u_xy_current = u_xy_update;
else
alpha_amj = beta_amj*alpha_amj;
end
end
uxy_opt_global = u_xy_current(:);
uxy_opt_body = dcm_from_body_to_global'*uxy_opt_global;
fprintf('******optimal inside the constraints************\n');
fprintf('(ux,uy)* = (%5.4f, %5.4f)\n',uxy_opt_body(1),uxy_opt_body(2));
fprintf('************************************************\n');
end
end % of the function
%% function: original cost function
function u_opt_true = calculate_original_cost(state_aircraft_target, ux0_sample, uy0_sample)
aircraft = state_aircraft_target.aircraft;
target = state_aircraft_target.target;
xa0 = aircraft(1);
ya0 = aircraft(2);
vxa0 = aircraft(3);
vya0 = aircraft(4);
Dt = aircraft(5);
xt0 = target(1);
yt0 = target(2);
wx0 = target(3);
wy0 = target(4);
wx1 = target(5);
wy1 = target(6);
% global solution wihtout the constraint
alpha = -(2*Dt^3*wx0 - 4*Dt^3*vxa0 + 2*Dt^3*wx1 - 2*Dt^2*xa0 + 2*Dt^2*xt0)/Dt^4;
beta = -(2*Dt^3*wy0 - 4*Dt^3*vya0 + 2*Dt^3*wy1 - 2*Dt^2*ya0 + 2*Dt^2*yt0)/Dt^4;
ux_opt = -alpha/2;
uy_opt = -beta/2;
% check the global solution if it is within the constraint
polygon_points = [ux0_sample(:)'; uy0_sample(:)'];
polygon_center = mean(polygon_points,2);
pc_vector = polygon_points-polygon_center ;
th_pc = atan2(pc_vector(2,:),pc_vector(1,:));
[~, idx_pc] = sort(th_pc);
polygon_points = polygon_points(:,idx_pc);
polygon_points = [polygon_points polygon_points(:,1)];
[in,on] = inpolygon(ux_opt,uy_opt,polygon_points(1,:),polygon_points(2,:));
if ~in && ~on
J_val_func = @(Dt,ux0,uy0,vxa0,vya0,wx0,wx1,wy0,wy1,xa0,xt0,ya0,yt0)xa0.*xt0.*-4.0-ya0.*yt0.*4.0+xa0.^2.*2.0+xt0.^2.*2.0+Dt.^4.*ux0.^2+Dt.^4.*uy0.^2+ya0.^2.*2.0+yt0.^2.*2.0+Dt.^2.*vxa0.^2.*5.0+Dt.^2.*vya0.^2.*5.0+Dt.^2.*wx0.^2.*2.0+Dt.^2.*wx1.^2+Dt.^2.*wy0.^2.*2.0+Dt.^2.*wy1.^2+Dt.*vxa0.*xa0.*6.0-Dt.*vxa0.*xt0.*6.0-Dt.*wx0.*xa0.*4.0-Dt.*wx1.*xa0.*2.0+Dt.*vya0.*ya0.*6.0+Dt.*wx0.*xt0.*4.0+Dt.*wx1.*xt0.*2.0-Dt.*vya0.*yt0.*6.0-Dt.*wy0.*ya0.*4.0-Dt.*wy1.*ya0.*2.0+Dt.*wy0.*yt0.*4.0+Dt.*wy1.*yt0.*2.0+Dt.^3.*ux0.*vxa0.*4.0+Dt.^3.*uy0.*vya0.*4.0-Dt.^3.*ux0.*wx0.*2.0-Dt.^3.*ux0.*wx1.*2.0-Dt.^3.*uy0.*wy0.*2.0-Dt.^3.*uy0.*wy1.*2.0+Dt.^2.*ux0.*xa0.*2.0-Dt.^2.*ux0.*xt0.*2.0-Dt.^2.*vxa0.*wx0.*6.0-Dt.^2.*vxa0.*wx1.*4.0-Dt.^2.*vya0.*wy0.*6.0-Dt.^2.*vya0.*wy1.*4.0+Dt.^2.*uy0.*ya0.*2.0-Dt.^2.*uy0.*yt0.*2.0+Dt.^2.*wx0.*wx1.*2.0+Dt.^2.*wy0.*wy1.*2.0;
J_cost_val=J_val_func(Dt,ux0_sample,uy0_sample,vxa0,vya0,wx0,wx1,wy0,wy1,xa0,xt0,ya0,yt0);
[~,opt_idx]=min(J_cost_val);
u_opt_true = [ux0_sample(opt_idx) uy0_sample(opt_idx)];
else
u_opt_true = [ux_opt uy_opt]';
end
end % of the function