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added minimum altitude constraint as obstacle

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Kevin Dee
2025-12-23 12:02:40 -08:00
parent 33036c95fd
commit 1fa76c7023
3 changed files with 16 additions and 7 deletions
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9
@miSim/initialize.m
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@@ -1,9 +1,10 @@
function obj = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles, makeVideo) function obj = initialize(obj, domain, objective, agents, minAlt, timestep, partitoningFreq, maxIter, obstacles, makeVideo)
arguments (Input) arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')}; obj (1, 1) {mustBeA(obj, 'miSim')};
domain (1, 1) {mustBeGeometry}; domain (1, 1) {mustBeGeometry};
objective (1, 1) {mustBeA(objective, 'sensingObjective')}; objective (1, 1) {mustBeA(objective, 'sensingObjective')};
agents (:, 1) cell; agents (:, 1) cell;
minAlt (1, 1) double = 1;
timestep (:, 1) double = 0.05; timestep (:, 1) double = 0.05;
partitoningFreq (:, 1) double = 0.25 partitoningFreq (:, 1) double = 0.25
maxIter (:, 1) double = 1000; maxIter (:, 1) double = 1000;
@@ -28,6 +29,12 @@ function obj = initialize(obj, domain, objective, agents, timestep, partitoningF
% Add geometries representing obstacles within the domain % Add geometries representing obstacles within the domain
obj.obstacles = obstacles; obj.obstacles = obstacles;
% Add an additional obstacle spanning the domain's footprint to
% represent the minimum allowable altitude
obj.minAlt = minAlt;
obj.obstacles{end + 1} = rectangularPrism;
obj.obstacles{end} = obj.obstacles{end}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
% Define objective % Define objective
obj.objective = objective; obj.objective = objective;

1
@miSim/miSim.m
View File

@@ -15,6 +15,7 @@ classdef miSim
partitioning = NaN; partitioning = NaN;
performance = 0; % cumulative sensor performance performance = 0; % cumulative sensor performance
barrierGain = 100; % collision avoidance parameter barrierGain = 100; % collision avoidance parameter
minAlt = 1; % minimum allowed altitude constraint
fPerf; % performance plot figure fPerf; % performance plot figure
end end

13
test/test_miSim.m
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@@ -14,6 +14,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Domain % Domain
domain = rectangularPrism; % domain geometry domain = rectangularPrism; % domain geometry
minDimension = 10; minDimension = 10;
minAlt = 2; % minimum allowed agent altitude
% Obstacles % Obstacles
minNumObstacles = 1; % Minimum number of obstacles to be randomly generated minNumObstacles = 1; % Minimum number of obstacles to be randomly generated
@@ -207,7 +208,7 @@ classdef test_miSim < matlab.unittest.TestCase
end end
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo);
end end
function misim_run(tc) function misim_run(tc)
% randomly create obstacles % randomly create obstacles
@@ -341,7 +342,7 @@ classdef test_miSim < matlab.unittest.TestCase
end end
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo);
% Run simulation loop % Run simulation loop
tc.testClass = tc.testClass.run(); tc.testClass = tc.testClass.run();
@@ -385,7 +386,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3)); tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3));
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
close(tc.testClass.fPerf); close(tc.testClass.fPerf);
end end
function test_single_partition(tc) function test_single_partition(tc)
@@ -415,7 +416,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1)); tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1));
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
close(tc.testClass.fPerf); close(tc.testClass.fPerf);
end end
function test_single_partition_basic_GA(tc) function test_single_partition_basic_GA(tc)
@@ -445,7 +446,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1), true); tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1), true);
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
% Run the simulation % Run the simulation
tc.testClass.run(); tc.testClass.run();
@@ -485,7 +486,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, 2, sprintf("Agent %d", 2)); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, 2, sprintf("Agent %d", 2));
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
% Run the simulation % Run the simulation
tc.testClass.run(); tc.testClass.run();