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Project.m
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Project.m
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vrep=remApi('remoteApi'); % using the prototype file (remoteApiProto.m)
vrep.simxFinish(-1); % just in case, close all opened connections
clientID=vrep.simxStart('127.0.0.1',19997,true,true,5000,5);
row_size = 22;
column_size = 22;
gridSize = row_size*column_size;
num_orientations = 8;
global OptimalPolicy
OptimalPolicy = zeros(gridSize,num_orientations,2);
if(clientID ~= -1)
disp('Connected to VRep');
% Now try to retrieve data in a blocking fashion (i.e. a service call):
[res,objs]=vrep.simxGetObjects(clientID,vrep.sim_handle_all,vrep.simx_opmode_blocking);
%% Orientation
% 1 - 0degree, 2 - 45degree ......... , 8 - 315 degree
%% Index - 1 to 121 --- grid indices
goalIndex1 = 242;
goalOrientation1 = 5;
goalAngle1 = (goalOrientation1-1) * 45;
botHeight = 0.1386;
r_size = 22;
gridResolution = 0.5;
x_goal1 = (round(mod((goalIndex1-1),r_size))) * gridResolution;
y_goal1 = (floor((goalIndex1-1)/r_size)) * gridResolution;
goalPosition1 = [x_goal1, y_goal1, botHeight];
goalIndex2 = 16;
goalOrientation2 = 5;
goalAngle2 = (goalOrientation2-1) * 45;
x_goal2 = (round(mod((goalIndex2-1),r_size))) * gridResolution;
y_goal2 = (floor((goalIndex2-1)/r_size)) * gridResolution;
goalPosition2 = [x_goal2, y_goal2, botHeight];
%% Get the optimal policy through MDP
MDP(goalIndex1,goalOrientation1, 1);
% MDP(goalIndex2,goalOrientation2, 2);
% start the simulation:
vrep.simxStartSimulation(clientID,vrep.simx_opmode_blocking);
%% Get reference frame handle
[returnCode,RefFrame]=vrep.simxGetObjectHandle(clientID,'ReferenceFrame',vrep.simx_opmode_blocking);
[returnCode,RefFrameBody1]=vrep.simxGetObjectHandle(clientID,'ReferenceFrame0',vrep.simx_opmode_blocking);
% [returnCode,RefFrameBody2]=vrep.simxGetObjectHandle(clientID,'ReferenceFrame1',vrep.simx_opmode_blocking);
%% Get the bot handle
[returnCode,BotHandle1]=vrep.simxGetObjectHandle(clientID,'Pioneer_p3dx#0',vrep.simx_opmode_blocking);
% [returnCode,BotHandle2]=vrep.simxGetObjectHandle(clientID,'Pioneer_p3dx',vrep.simx_opmode_blocking);
%% Get motor handles
[returnCode,LeftMotorHandle1]=vrep.simxGetObjectHandle(clientID,'Pioneer_p3dx_leftMotor#0',vrep.simx_opmode_blocking);
[~,RightMotorHandle1]=vrep.simxGetObjectHandle(clientID,'Pioneer_p3dx_rightMotor#0',vrep.simx_opmode_blocking);
%
% [returnCode,LeftMotorHandle2]=vrep.simxGetObjectHandle(clientID,'Pioneer_p3dx_leftMotor',vrep.simx_opmode_blocking);
% [~,RightMotorHandle2]=vrep.simxGetObjectHandle(clientID,'Pioneer_p3dx_rightMotor',vrep.simx_opmode_blocking);
%
%% Get the current position and orientation of the robot
[returnCode,position1]=vrep.simxGetObjectPosition(clientID, BotHandle1, RefFrame, vrep.simx_opmode_blocking);
[returnCode,eulerAngles1]=vrep.simxGetObjectOrientation(clientID,RefFrameBody1,RefFrame,vrep.simx_opmode_blocking);
currentPosition1 = position1;
currentEulerAngles1 = eulerAngles1;
% [returnCode,position2]=vrep.simxGetObjectPosition(clientID, BotHandle2, RefFrame, vrep.simx_opmode_blocking);
% [returnCode,eulerAngles2]=vrep.simxGetObjectOrientation(clientID,RefFrameBody2,RefFrame,vrep.simx_opmode_blocking);
%
% currentPosition2 = position2;
% currentEulerAngles2 = eulerAngles2;
ReachedGoal1 = false;
ReachedGoal2 = false;
%% Loop till we reach at goal
while ReachedGoal1 ~= true %|| ReachedGoal2 ~= true
if(ReachedGoal1 ~= true)
[ReachedGoal1, currentPosition1, currentEulerAngles1] = MoveRobot(clientID, vrep, BotHandle1, LeftMotorHandle1, RightMotorHandle1, currentPosition1, currentEulerAngles1, goalPosition1, goalAngle1, 1, RefFrame, RefFrameBody1);
end
% if(ReachedGoal2 ~= true)
% [ReachedGoal2, currentPosition2, currentEulerAngles2] = MoveRobot(clientID, vrep, BotHandle2, LeftMotorHandle2, RightMotorHandle2, currentPosition2, currentEulerAngles2, goalPosition2, goalAngle2, 2, RefFrame, RefFrameBody2);
% end
end
%% When complete stop the simulation
vrep.simxStopSimulation(clientID,vrep.simx_opmode_blocking);
%% Noisy GPS not used
% [res,data]=vrep.simxGetStringSignal(clientID,'myPts',vrep.simx_opmode_streaming);
% while(1)
% %% Get the GPS Data
% vrep.simxGetStringSignal(clientID,'myGpsData',vrep.simx_opmode_streaming); % Initialize streaming
% while (1)
% [returnCode,data]=vrep.simxGetStringSignal(clientID,'myGpsData',vrep.simx_opmode_buffer); % Try to retrieve the streamed data
% if (returnCode==vrep.simx_return_ok) % After initialization of streaming, it will take a few ms before the first value arrives, so check the return code
% gpsData=vrep.simxUnpackFloats(data);
% %% Get the position of robot
% [returnCode,BotHandle]=vrep.simxGetObjectHandle(clientID,'Pioneer_p3dx#0',vrep.simx_opmode_blocking);
% [returnCode,position]=vrep.simxGetObjectPosition(clientID, BotHandle, RefFrame, vrep.simx_opmode_blocking);
%
% end
% end
% end
%
vrep.simxFinish(clientID);
end
function [ReachedGoal, currentPosition, currentEulerAngles] = MoveRobot(clientID, vrep, BotHandle, LeftMotorHandle, RightMotorHandle, currentPosition, currentEulerAngles, goalPosition, goalAngle, roboNumber, RefFrame, RefFrameBody)
if abs(currentPosition(1)-goalPosition(1)) < 0.3 && abs(currentPosition(2)-goalPosition(2)) < 0.3 && abs(goalAngle-((currentEulerAngles(3)*180)/pi)) < 25
ReachedGoal = false;
return;
end
% calculate the orientation
orientation = (currentEulerAngles(3) * 180) / pi;
RotationTimeConstant = 30; % degrees / sec
RightTurn = false;
LeftTurn = false;
StraighMotionFactor = 1;
% Get the angle by which we need to turn
deltaOrientation = GetAction(currentPosition(1), currentPosition(2), orientation, roboNumber);
newOrientation = deltaOrientation + orientation;
newOrientation = round(newOrientation/45)*45;
Isdiagonal = false;
if newOrientation == 45 || newOrientation == 135 || newOrientation == 225 || newOrientation == 315
StraighMotionFactor = 1.414;
end
if(deltaOrientation < 180)
LeftTurn = true;
else
RightTurn = true;
deltaOrientation = 360-deltaOrientation;
end
time = 1.8 * deltaOrientation / RotationTimeConstant ;
Speed = 0.5;
if (RightTurn == true)
%% Zero-radius right turn
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,LeftMotorHandle,Speed,vrep.simx_opmode_blocking);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,RightMotorHandle,-Speed,vrep.simx_opmode_blocking);
pause(time);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,LeftMotorHandle,0,vrep.simx_opmode_blocking);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,RightMotorHandle,0,vrep.simx_opmode_blocking);
[returnCode,eulerAngles]=vrep.simxGetObjectOrientation(clientID,BotHandle,RefFrame,vrep.simx_opmode_blocking);
end
if (LeftTurn == true)
%% Zero-radius left turn
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,LeftMotorHandle,-Speed,vrep.simx_opmode_blocking);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,RightMotorHandle,Speed,vrep.simx_opmode_blocking);
pause(time);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,LeftMotorHandle,0,vrep.simx_opmode_blocking);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,RightMotorHandle,0,vrep.simx_opmode_blocking);
[returnCode,eulerAngles]=vrep.simxGetObjectOrientation(clientID,BotHandle,RefFrame,vrep.simx_opmode_blocking);
end
%% Straight motion
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,LeftMotorHandle,Speed,vrep.simx_opmode_blocking);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,RightMotorHandle,Speed,vrep.simx_opmode_blocking);
pause(11 * StraighMotionFactor);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,LeftMotorHandle,0,vrep.simx_opmode_blocking);
[returnCode]=vrep.simxSetJointTargetVelocity(clientID,RightMotorHandle,0,vrep.simx_opmode_blocking);
%% Get the current position and orientation of the robot
[returnCode,currentPosition]=vrep.simxGetObjectPosition(clientID, BotHandle, RefFrame, vrep.simx_opmode_blocking);
[returnCode,currentEulerAngles]=vrep.simxGetObjectOrientation(clientID,RefFrameBody, RefFrame,vrep.simx_opmode_blocking);
if (currentEulerAngles(3) < 0)
currentEulerAngles(3) = currentEulerAngles(3) + (2*pi);
end
if abs(currentPosition(1)-goalPosition(1)) > 0.3 || abs(currentPosition(2)-goalPosition(2)) > 0.3 || abs(goalAngle-((currentEulerAngles(3)*180)/pi)) > 25
ReachedGoal = false;
else
ReachedGoal = true;
end
end