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zhm-real
39 lines
950 B
Python
39 lines
950 B
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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@author: huiming zhou
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"""
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import numpy as np
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motions = [(1, 0), (-1, 0), (0, 1), (0, -1)] # feasible motion sets
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def move_prob(x, u, obs, eta = 0.2):
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"""
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Motion model of robots,
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:param x: current state (node)
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:param u: input
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:param obs: obstacle map
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:param eta: noise in motion model
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:return: next states and corresponding probability
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"""
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p_next = [1 - eta, eta / 2, eta / 2]
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x_next = []
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if u == (0, 1):
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u_real = [(0, 1), (-1, 0), (1, 0)]
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elif u == (0, -1):
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u_real = [(0, -1), (-1, 0), (1, 0)]
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elif u == (-1, 0):
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u_real = [(-1, 0), (0, 1), (0, -1)]
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else:
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u_real = [(1, 0), (0, 1), (0, -1)]
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for act in u_real:
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if (x[0] + act[0], x[1] + act[1]) in obs:
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x_next.append(x)
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else:
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x_next.append((x[0] + act[0], x[1] + act[1]))
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return x_next, p_next |