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Collision Prevention for multicopter acceleration based position flight mode #23507

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Collision Prevention for multicopter acceleration based position flight mode #23507

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Claudio-Chies
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@Claudio-Chies Claudio-Chies commented Aug 7, 2024 •
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Solved Problem

Ports and extends the current collision prevention algorithm to FlightModeManualAcceleration

Associated PR's

Solution

The algorithm has two parts, velocity compensation, and constraining of the commanded acceleration.

Velocity compensation

For this, I have ported over the existing methods from the velocity based collision prevention method and transformed the velocity into an acceleration by subtracting the velocity set-point from the collision prevention velocity and applying a proportional gain ( MPC_XY_VEL_P_ACC ) to it.

Acceleration constraining

For this I'm calculating the minimal distance to the obstacle, and scaling it quadratic in the range of [0,1] distances proportional to the maximum velocity. (See image below)

For this we split the acceleration setpoint coming from the operator into a surface normal and tangential component, then using the normal and tangential obstacle distance we scale these components individual.
This way, if we are in front of a big even wall, we are free to move tangentially but are restricted in the surface normal direction.

whereby, the acceleration constraining is done in the distance between CP_DIST and MPC_VEL_MANUAL / MPC_XY_P

Drawbacks

Removed in 87a0ee6

Changelog Entry

For release notes:

Feature: Collision prevention for FlightModeManual Acceleration

Documentation: Need to update https://docs.px4.io/main/en/computer_vision/collision_prevention.html
WIP PX4/PX4-user_guide#3364

Drawbacks

  • If velocity is not close to set point, might cause crashes

Alternatives

  • dont use the max velocity and position error gain for the scaling factor and use a new normal and tangential scaling parameter.

Test coverage

  • Tested in SITL with 1D and 2D lidar
  • Hardware Testing in progress

Context

CP.mp4

Hardware Tests

1D Lidar

IMG_2735
The oscillations which are present are due to flying close to the ground, and when pitching the distance sensor picks up the ground.

EDIT1:
Updated description to include tangential scaling

@Claudio-Chies Claudio-Chies force-pushed the pr-Collision_Prevention branch 4 times, most recently from a3d8d8b to d130612 Compare August 9, 2024 13:01
@Claudio-Chies Claudio-Chies changed the title Collision Prevention for MPC Flightmode Acceleration Collision Prevention for manual flight mode Aug 12, 2024
@Claudio-Chies Claudio-Chies force-pushed the pr-Collision_Prevention branch 2 times, most recently from dcfa190 to 9cf4838 Compare August 12, 2024 09:58
@Claudio-Chies Claudio-Chies marked this pull request as ready for review August 12, 2024 10:00
@dirksavage88
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@Claudio-Chies is this something I can pull down to flight test? Or is it needing more time in the SITL?

@Claudio-Chies
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@dirksavage88 it should be ready to test, the only thing i haven't tested is how non-default gains in the position and velocity controller change the CP behavior

@Claudio-Chies Claudio-Chies force-pushed the pr-Collision_Prevention branch 6 times, most recently from 7fa1fcc to 077226b Compare August 20, 2024 08:51
@Claudio-Chies Claudio-Chies mentioned this pull request Aug 27, 2024
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@Claudio-Chies Claudio-Chies force-pushed the pr-Collision_Prevention branch 2 times, most recently from 1e40431 to bd72ecf Compare October 1, 2024 07:23
MaEtUgR
MaEtUgR reviewed Oct 1, 2024
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After an in person discussion I see a lot of value in simplifying the logic. The main pain points are:

  • Separate input data processing from guidance logic e.g. distance and direction to closest obstacle and distance to next obstacle in current velocity direction are the interface between obstacle map processing and guidance.
  • If possible avoid cases in guidance logic. E.g. three things to take care of:
    • Stick should not accelerate over the configured collision prevention minimum distance
    • Brake from current velocity before before minimum allowed distance
    • If obstacle is closer/"comes closer" push away from it to minimum distance
      Probably these rules can run all the time, get superimposed and be readable, predictable (logged).

I added a commit for cosmetic and commenting things that I saw at a glance.

@Claudio-Chies Claudio-Chies marked this pull request as draft October 2, 2024 08:46
@Claudio-Chies Claudio-Chies force-pushed the pr-Collision_Prevention branch 2 times, most recently from e0b6707 to d346da5 Compare October 4, 2024 11:46
@Claudio-Chies Claudio-Chies force-pushed the pr-Collision_Prevention branch 2 times, most recently from 6d72e11 to 1075492 Compare October 29, 2024 09:51
@Claudio-Chies Claudio-Chies marked this pull request as ready for review October 31, 2024 10:36
Claudio-Chies and others added 20 commits November 19, 2024 11:26
@Claudio-Chies
slight refactor
5d85cbc
@Claudio-Chies
Adapted Tests for Acceleration based Collision Prevention
cb29b0b
@MaEtUgR @Claudio-Chies
CollisionPrevention: Cosmetic refactoring and comments
285243d
@Claudio-Chies
refactor of the implementation,
49d9706
@Claudio-Chies
added handling of -1 as out of range indicator for 1D distance sensors
a990264
@Claudio-Chies
added handling of inside corners.
3ac52a1
@MaEtUgR @Claudio-Chies
StickAccelerationXY: Simplify collision prevention call
402e56f
@MaEtUgR @Claudio-Chies
collision_prevention: fix matrix namespace
e58ba29 
don't use it in header such that clients are free to redefine the names
but include it in cpp files and make use of that.
@MaEtUgR @Claudio-Chies
CollisionPrevention: Sanitize input of _getObstacleDistance()
58590d0 
It could cause array out of bound problems before.
@MaEtUgR @Claudio-Chies
CollisionPrevention: clarify mode switch command to hold/loiter
7fb9707
@MaEtUgR @Claudio-Chies
CollisionPrevention: Clarify bin size definitions, move wrap function…
e9819b0 
…s into class
@MaEtUgR @Claudio-Chies
CollisionPrevention: reduce internal array size, zero initialize what…
12e4544 
…'s possible
@MaEtUgR @Claudio-Chies
CollisionPrevention: move main functions to the top in the order they…
3698722 
… get called
@MaEtUgR @Claudio-Chies
CollisionPrevention: only save quaternion and yaw on attitude update
c802697
@MaEtUgR @Claudio-Chies
CollisionPrevention: restore rate limited warning for no data, minor …
06ff738 
…cleanup
@MaEtUgR @Claudio-Chies
Remove FlightTaskManualPositionSmoothVel
a66bfda 
The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
@Claudio-Chies
switched to resolution of 5 degrees, and adapted tests to reflect the…
060533b 
… change
@Claudio-Chies
rewrite of the obstacle_distance merging method,
93d251a 
fixes issues with offsets and resolution
move GZ Bridge
@MaEtUgR @Claudio-Chies
Remove FlightTaskManualPositionSmoothVel
7745133 
The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
@MaEtUgR @Claudio-Chies
CollisionPrevention: fix early return and use unified bin count + arr…
6150d7f 
…ay size 72
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  -0.3%  -120Ki  -0.0%    -384    TOTAL

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FLASH Analysis

px4_fmu-v5x 
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 --------------  -------------- 
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px4_fmu-v6x 
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 --------------  -------------- 
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  -0.3%  -120Ki  -0.0%    -352    TOTAL

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FLASH Analysis

px4_fmu-v5x 
    FILE SIZE        VM SIZE    
 --------------  -------------- 
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px4_fmu-v6x 
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 --------------  -------------- 
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    [DEL] -1.49Ki  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
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     +13%     +87  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
    +2.0%     +58  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
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    +0.4%     +46  [ = ]       0    ../../src/modules/flight_mode_manager/FlightModeManager.cpp
    -0.4%    -111  [ = ]       0    ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
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     +25% +4.88Ki  [ = ]       0    ../../src/lib/collision_prevention/CollisionPrevention.cpp
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    -4.1%    -689  [ = ]       0    src/modules/flight_mode_manager/FlightTasks_generated.cpp
    -8.1%    -992  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
    -0.2% -2.49Ki  [ = ]       0    [section .debug_loc]
    [DEL] -2.60Ki  [ = ]       0    ../../src/lib/motion_planning/ManualVelocitySmoothingXY.cpp
    [DEL] -14.4Ki  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
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    +7.7% +6.30Ki  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp
    +7.9% +6.30Ki  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
    +4.1% +5.64Ki  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
    +2.1% +2.69Ki  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp
    +0.3%    +327  [ = ]       0    ../../src/modules/flight_mode_manager/FlightModeManager.cpp
    -0.5%    -820  [ = ]       0    ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
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    [DEL] -97.5Ki  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
  -0.3%  -120Ki  -0.0%    -352    TOTAL

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@MaEtUgR MaEtUgR MaEtUgR left review comments

@bresch bresch Awaiting requested review from bresch

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@Claudio-Chies @dirksavage88 @MaEtUgR @hamishwillee @bresch