deeplearningPID

利用深度学习优化PID控制算法，实现自动匹配参数；python代码

#!/usr/bin/env python

# title: meta-Cluster Location Publisher
# Description: Clusters the clusters into metaclusters
# Engineer: Jonathan Lwowski 
# Email: jonathan.lwowski@gmail.com
# Lab: Autonomous Controls Lab The University of Texas at San Antonio


#########          Libraries         ###################
import sys
from std_msgs.msg import String
from std_msgs.msg import Header
import rospy
import math
import numpy as np
import time
from gazebo_msgs.msg import ModelStates
from geometry_msgs.msg import PoseArray
from geometry_msgs.msg import Pose
from geometry_msgs.msg import Point
from geometry_msgs.msg import Quaternion
from sklearn import cluster
from gazebo_msgs.srv import SpawnModel
from gazebo_msgs.srv import DeleteModel
from cooperative_mav_asv.msg import *
from cooperative_mav_asv.srv import *


### Functions to Find Smalled Bounding Circle  ###

def make_circle（points）:
    # Convert to float and randomize order
    shuffled = [（float（p[0]） float（p[1]）） for p in points]
 
    
    # Progressively add points to circle or recompute circle
    c = None
    for （i p） in enumerate（shuffled）:
        if c is None or not _is_in_circle（c p）:
            c = _make_circle_one_point（shuffled[0 : i + 1] p）
    return c


# One boundary point known
def _make_circle_one_point（points p）:
    c = （p[0] p[1] 0.0）
    for （i q） in enumerate（points）:
        if not _is_in_circle（c q）:
            if c[2] == 0.0:
                c = _make_diameter（p q）
            else:
                c = _make_circle_two_points（points[0 : i + 1] p q）
    return c


# Two boundary points known
def _make_circle_two_points（points p q）:
    diameter = _make_diameter（p q）
    if all（_is_in_circle（diameter r） for r in points）:
        return diameter
    
    left = None
    right = None
    for r in points:
        cross = _cross_product（p[0] p[1] q[0] q[1] r[0] r[1]）
        c = _make_circumcircle（p q r）
        if c is None:
            continue
        elif cross > 0.0 and （left is None or _cross_product（p[0] p[1] q[0] q[1] c[0] c[1]） > _cross_product（p[0] p[1] q[0] q[1] left[0] left[1]））:
            left = c
        elif cross < 0.0 and （right is None or _cross_product（p[0] p[1] q[0] q[1] c[0] c[1]） < _cross_product（p[0] p[1] q[0] q[1] right[0] right[1]））:
            right = c
    return left if （right is None or （left is not None and left[2] <= right[2]）） else right


def _make_circumcircle（p0 p1 p2）:
    # Mathematical algorithm from Wikipedia: Circumscribed circle
    ax = p0[0]; ay = p0[1]
    bx = p1[0]; by = p1[1]
    cx = p2[0]; cy = p2[1]
    d = （ax * （by - cy） + bx * （cy - ay） + cx * （ay - by）） * 2.0
    if d == 0.0:
        return None
    x = （（ax * ax + ay * ay） * （by - cy） + （bx * bx + by * by） * （cy - ay） + （cx * cx + cy * cy） * （ay - by）） / d
    y = （（ax * ax + ay * ay） * （cx - bx） + （bx * bx + by * by） * （ax - cx） + （cx * cx + cy * cy） * （bx - ax）） / d
    return （x y math.hypot（x - ax y - ay））


d

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2016-10-21 16:34  DeepLearningPID-master\
     文件        6217  2016-10-21 16:34  DeepLearningPID-master\CMakeLists.txt
     文件       35141  2016-10-21 16:34  DeepLearningPID-master\LICENSE
     文件         320  2016-10-21 16:34  DeepLearningPID-master\README.md
     文件         536  2016-10-21 16:34  DeepLearningPID-master\README.md~
     目录           0  2016-10-21 16:34  DeepLearningPID-master\launch\
     文件        1302  2016-10-21 16:34  DeepLearningPID-master\launch\deep_learning_pid.launch
     文件        1166  2016-10-21 16:34  DeepLearningPID-master\launch\deep_learning_pid.launch~
     文件         976  2016-10-21 16:34  DeepLearningPID-master\launch\empty_world.launch~
     文件        1331  2016-10-21 16:34  DeepLearningPID-master\launch\p3dx.gazebo.launch
     文件        1327  2016-10-21 16:34  DeepLearningPID-master\launch\p3dx.gazebo.launch~
     文件        1223  2016-10-21 16:34  DeepLearningPID-master\launch\spawn_quadrotor_with_downward_cam.launch
     文件        1223  2016-10-21 16:34  DeepLearningPID-master\launch\spawn_quadrotor_with_downward_stereo_cam.launch
     文件        5199  2016-10-21 16:34  DeepLearningPID-master\launch\universal_boat_world_multiple_mav_local_cloud.launch~
     文件        5207  2016-10-21 16:34  DeepLearningPID-master\launch\universal_boat_world_multiple_mav_server_cloud.launch~
     目录           0  2016-10-21 16:34  DeepLearningPID-master\msg\
     文件          28  2016-10-21 16:34  DeepLearningPID-master\msg\AuctionAssignments.msg
     文件          70  2016-10-21 16:34  DeepLearningPID-master\msg\BoatAuctionInfo.msg
     文件          65  2016-10-21 16:34  DeepLearningPID-master\msg\ClusterCenter.msg
     文件          26  2016-10-21 16:34  DeepLearningPID-master\msg\ClusterCenters.msg
     文件          87  2016-10-21 16:34  DeepLearningPID-master\msg\metaCluster.msg
     文件          28  2016-10-21 16:34  DeepLearningPID-master\msg\metaClusters.msg
     文件        2141  2016-10-21 16:34  DeepLearningPID-master\package.xml
     目录           0  2016-10-21 16:34  DeepLearningPID-master\rviz\
     文件        4973  2016-10-21 16:34  DeepLearningPID-master\rviz\rviz_config.rviz
     目录           0  2016-10-21 16:34  DeepLearningPID-master\scripts\
     目录           0  2016-10-21 16:34  DeepLearningPID-master\scripts\backup\
     文件        4733  2016-10-21 16:34  DeepLearningPID-master\scripts\backup\cluster_location_service.py~
     文件        7564  2016-10-21 16:34  DeepLearningPID-master\scripts\backup\clusters_of_clusters_service.py~
     文件        4320  2016-10-21 16:34  DeepLearningPID-master\scripts\backup\universal_boat_auctioner_service.py~
     文件       12301  2016-10-21 16:34  DeepLearningPID-master\scripts\backup\universal_boat_service.py~
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