Skip to content

Commit

Permalink
Example for collision risk assessment - Incomplete
Browse files Browse the repository at this point in the history
  • Loading branch information
@n-akram
n-akram committed Sep 30, 2023
1 parent f2770c8 commit 506a74a
Show file tree
Hide file tree
Showing 2 changed files with 187 additions and 4 deletions.
14 changes: 10 additions & 4 deletions SafeDrones/core/SafeDrones.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -32,13 +32,14 @@ def __init__(self):

self.danger_threshold = None
self.collision_threshold = None

self.GPS_Lambda = None

self.Set_Variables()

def Set_Variables(self, MotorStatus=[1,1,1,1,1,1], Motors_Configuration='PNPNPN',\
Motors_Lambda = 0.001, Batt_Lambda = 0.001, alpha = 0.008, beta = 0.007, \
Battery_degradation_rate = 0.0064, BatteryLevel=80, MTTFref=400, \
Tr=30, Ta=50, u=1,b=1, time=100, ):
Tr=30, Ta=50, u=1,b=1, time=100, danger_threshold=2, collision_threshold=0, GPS_Lambda=0.001):
#%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# Version : 1.0.0 %
# Description : set variables used in the program %
Expand Down Expand Up @@ -66,6 +67,11 @@ def Set_Variables(self, MotorStatus=[1,1,1,1,1,1], Motors_Configuration='PNPNPN'

# Mission Time
self.time = time

#Collision related
self.danger_threshold = danger_threshold
self.collision_threshold = collision_threshold
self.GPS_Lambda = GPS_Lambda


def Motor_Failure_Risk_Calc(self, MotorStatus=None, Motors_Configuration=None, Motors_Lambda=None, time=None):
Expand Down Expand Up @@ -624,9 +630,9 @@ def calculate_collision_risk(self, uav_1_trajectory, uav_2_trajectory): # self.
for point_1, point_2 in zip(uav_1_trajectory, uav_2_trajectory):
distance = np.linalg.norm(np.array(point_1) - np.array(point_2))

if distance < collision_threshold:
if distance < self.collision_threshold:
collision_zone_count += 1
elif distance < danger_threshold:
elif distance < self.danger_threshold:
danger_zone_count += 1

danger_zone_risk = danger_zone_count / len(uav_1_trajectory)
Expand Down
177 changes: 177 additions & 0 deletions example/SafeDrone-demo-2.ipynb
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,177 @@
{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Using SafeDrone for collision risk assessment\n",
"\n",
"SafeDrone can be used for risk of collision of the drones. It takes the trajectory of the drones as an input, and calculates the risk of collision. \n",
"\n",
"The drone consists of three main electrical components that are essential for its operation.\n",
"1. Motor (Rotor)\n",
"2. Battery\n",
"3. Onboard chip\n",
"\n",
"In the following, we show an example usage of drone collision risk assessment. "
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"import sys\n",
"import os\n",
"\n",
"import inspect\n",
"\n",
"from IPython.display import Markdown as md\n",
"\n",
"from sys import platform\n",
"\n",
"if platform == \"linux\" or platform == \"linux2\":\n",
" currentdir = os.path.dirname(os.path.realpath(inspect.getfile(inspect.currentframe())))\n",
" parentdir = os.path.dirname(currentdir)\n",
" sys.path.insert(0, parentdir)\n",
"elif platform == \"win32\":\n",
" # in Windows, the first path entry contains the directory where the notebook is\n",
" sys.path.insert(0, os.path.dirname(sys.path[0]))\n",
"\n",
"from SafeDrones.core.SafeDrones import SafeDrones"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"import numpy as np"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"eval = SafeDrones()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Initialize the variables . . . .\n",
"Use $5$ as collision threshold, and $10$ as danger threshold. GPS lambda can be used the default ($0.001$)."
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
"eval.Set_Variables(collision_threshold=5, danger_threshold=10, GPS_Lambda=0.001)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Sample trajectories . . . . "
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"outputs": [],
"source": [
"traj_1 = np.array([1, 2, 3, 4, 5, 6])\n",
"traj_2 = np.array([1, 2, 3, 4, 5, 6])"
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"(0.0, 1.0)"
]
},
"execution_count": 6,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"risk = eval.calculate_collision_risk(traj_1, traj_2)\n",
"risk"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Check the risk of GPS failure . . . . "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## INCOMPLETE . . . ."
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [
{
"ename": "AttributeError",
"evalue": "'SafeDrones' object has no attribute 'SatStatus'",
"output_type": "error",
"traceback": [
"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[1;31mAttributeError\u001b[0m Traceback (most recent call last)",
"\u001b[1;32mc:\\AKRAM-Local\\github\\SafeDrones\\example\\SafeDrone-demo-2.ipynb Cell 12\u001b[0m line \u001b[0;36m<cell line: 1>\u001b[1;34m()\u001b[0m\n\u001b[1;32m----> <a href='vscode-notebook-cell:/c%3A/AKRAM-Local/github/SafeDrones/example/SafeDrone-demo-2.ipynb#X15sZmlsZQ%3D%3D?line=0'>1</a>\u001b[0m gps_risk \u001b[39m=\u001b[39m \u001b[39meval\u001b[39;49m\u001b[39m.\u001b[39;49mGPS_Failure_Risk_Calc()\n",
"File \u001b[1;32mc:\\AKRAM-Local\\github\\SafeDrones\\SafeDrones\\core\\SafeDrones.py:604\u001b[0m, in \u001b[0;36mSafeDrones.GPS_Failure_Risk_Calc\u001b[1;34m(self)\u001b[0m\n\u001b[0;32m 592\u001b[0m t \u001b[39m=\u001b[39m \u001b[39mself\u001b[39m\u001b[39m.\u001b[39mtime\n\u001b[0;32m 594\u001b[0m M \u001b[39m=\u001b[39m np\u001b[39m.\u001b[39marray([[\u001b[39m-\u001b[39m\u001b[39m14\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m],\n\u001b[0;32m 595\u001b[0m [ \u001b[39m14\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m-\u001b[39m\u001b[39m13\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m],\n\u001b[0;32m 596\u001b[0m [ \u001b[39m0\u001b[39m, \u001b[39m13\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m-\u001b[39m\u001b[39m12\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m],\n\u001b[1;32m (...)\u001b[0m\n\u001b[0;32m 601\u001b[0m [ \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m8\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m-\u001b[39m\u001b[39m7\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m],\n\u001b[0;32m 602\u001b[0m [ \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m7\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m]])\n\u001b[1;32m--> 604\u001b[0m P \u001b[39m=\u001b[39m np\u001b[39m.\u001b[39mdot(sym\u001b[39m.\u001b[39mexp(M\u001b[39m*\u001b[39mt), \u001b[39mself\u001b[39;49m\u001b[39m.\u001b[39;49mSatStatus)\n\u001b[0;32m 606\u001b[0m P_Fail \u001b[39m=\u001b[39m P[\u001b[39m-\u001b[39m\u001b[39m1\u001b[39m]\n\u001b[0;32m 608\u001b[0m N \u001b[39m=\u001b[39m np\u001b[39m.\u001b[39marray([[\u001b[39m-\u001b[39m\u001b[39m14\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m],\n\u001b[0;32m 609\u001b[0m [ \u001b[39m14\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m-\u001b[39m\u001b[39m13\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m],\n\u001b[0;32m 610\u001b[0m [ \u001b[39m0\u001b[39m, \u001b[39m13\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m-\u001b[39m\u001b[39m12\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m],\n\u001b[1;32m (...)\u001b[0m\n\u001b[0;32m 614\u001b[0m [ \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m9\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m-\u001b[39m\u001b[39m8\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m0\u001b[39m],\n\u001b[0;32m 615\u001b[0m [ \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m0\u001b[39m, \u001b[39m8\u001b[39m\u001b[39m*\u001b[39mL, \u001b[39m-\u001b[39m\u001b[39m7\u001b[39m\u001b[39m*\u001b[39mL]])\n",
"\u001b[1;31mAttributeError\u001b[0m: 'SafeDrones' object has no attribute 'SatStatus'"
]
}
],
"source": [
"gps_risk = eval.GPS_Failure_Risk_Calc()"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.8.13"
},
"orig_nbformat": 4
},
"nbformat": 4,
"nbformat_minor": 2
}

0 comments on commit 506a74a

Please sign in to comment.