{ "key_pair_value_system": true, "answer_rating_count": "", "question_feedback_html": { "html_star": "", "html_star_feedback": "" }, "answer_average_rating_value": "", "answer_date_js": "2024-09-13T00:04:19-04:00", "answer_date": "2024-09-13 00:04:19", "is_docs_available": "", "is_excel_available": "", "is_pdf_available": "", "count_file_available": 0, "main_page": "student_question_view", "question_id": "10520982", "url": "\/study-help\/questions\/using-the-unicycle-model-you-implemented-above-you-will-now-10520982", "question_creation_date_js": "2024-09-13T00:04:19-04:00", "question_creation_date": "Sep 13, 2024 12:04 AM", "meta_title": "[Solved] Using the Unicycle model you implemented | SolutionInn", "meta_description": "Answer of - Using the Unicycle model you implemented above, you will now command the system to reach a goal position. Start with o | SolutionInn", "meta_keywords": "unicycle,model,implemented,will,command,system,reach,goal,position,start,open,-", "question_title_h1": "Using the Unicycle model you implemented above, you will now command the system to reach a goal position. Start with open - loop control, i", "question_title": "Using the Unicycle model you implemented above, you will now command the", "question_title_for_js_snippet": "Using the Unicycle model you implemented above, you will now command the system to reach a goal position Start with open loop control, i e , measure the intial state ( returned by env reset ) and then calculate a sequence of actions to apply After that sequence is computed, run the simulator forward for several steps, and at each step, simply grab the corresponding control value from that pre computed sequence You can use this example open loop control policy implementation as a first try Your job is to implement a smarter open loop control policy that gets the system to reach ( close ) to the goal Remember you are only provided with the initial state, goal position, and the maximum number of steps allowed you can't access the system's state once it has started moving That would be closed loop control, which we'll implement next Deliverables Implement the open loop control policy, which should produce a sequence of control commands that will lead to the goal This can be a very simple hard coded policy ( e g , always send the same v , w ) Generate 1 plot that shows your open loop controller drives the noise free system to the goal ( it only has to work for 1 test case ) Include the path taken and the start goal coordinates in your plot Generate 1 plot that shows your open loop controller running on the noisy system ( it ' s ok if it doesn't work on this system ) Include the path taken and the start goal coordinates in your plot def open loop control policy ( init state np ndarray, goal np ndarray, num steps int 1 0 ) list np ndarray Your Implementation Here raise NotImplementedError return control sequence o np random seed ( 0 ) max num steps 2 0 0 env unwrapped motion model Unicycle (", "question_description": "
Using the Unicycle model you implemented above, you will now command the system to reach a goal position. Start with open<\/span>-<\/mo><\/mrow><\/math>loop control,<\/span> <\/div>
i<\/span>.<\/mo><\/mrow><\/math>e<\/span>.<\/mo>,<\/mo><\/mrow><\/math> measure the intial state <\/span>(<\/mi><\/mrow><\/math>returned by env. reset<\/span>)<\/mi><\/mrow><\/math> and then calculate a sequence of actions to apply.<\/span> <\/div>
After that sequence is computed, run the simulator forward for several steps, and at each step, simply grab the corresponding control value<\/span><\/div>
from that pre<\/span>-<\/mo><\/mrow><\/math>computed sequence. You can use this example open<\/span>_<\/mo><\/mrow><\/math>loop<\/span>_<\/mo><\/mrow><\/math>control<\/span>_<\/mo><\/mrow><\/math>policy implementation as a first try.<\/span> <\/div>
Your job is to implement a smarter open<\/span>_<\/mo><\/mrow><\/math>loop<\/span>_<\/mo><\/mrow><\/math>control<\/span>_<\/mo><\/mrow><\/math>policy that gets the system to reach <\/span>(<\/mi><\/mrow><\/math>close<\/span>)<\/mi><\/mrow><\/math> to the goal.<\/span> <\/div>
Remember: you are only provided with the initial state, goal position, and the maximum number of steps allowed <\/span>-<\/mo>-<\/mo><\/mrow><\/math> you can't access the<\/span> <\/div>
system's state once it has started moving! That would be closed<\/span>-<\/mo><\/mrow><\/math>loop control, which we'll implement next <\/span><\/mi><\/mrow><\/math> <\/div>
Deliverables:<\/span><\/div>
Implement the open<\/span>_<\/mo><\/mrow><\/math>loop<\/span>_<\/mo><\/mrow><\/math>control<\/span>_<\/mo><\/mrow><\/math>policy, which should produce a sequence of control commands that will lead to the goal. This can<\/span> <\/div>
be a very simple hard<\/span>-<\/mo><\/mrow><\/math>coded policy <\/span>(<\/mi><\/mrow><\/math>e<\/span>.<\/mo><\/mrow><\/math>g<\/span>.<\/mo>,<\/mo><\/mrow><\/math> always send the same <\/span>v<\/mi>,<\/mo>w<\/mi><\/mtext>)<\/mi><\/mrow><\/math> <\/div>
Generate <\/span>1<\/mn><\/mrow><\/math> plot that shows your open<\/span>-<\/mo><\/mrow><\/math>loop controller drives the noise<\/span>-<\/mo><\/mrow><\/math>free system to the goal <\/span>(<\/mi><\/mrow><\/math>it only has to work for <\/span>1<\/mn><\/mrow><\/math> test case<\/span>)<\/mi>.<\/mo><\/mrow><\/math> Include<\/span> <\/div>
the path taken and the start<\/span>\/<\/mi><\/mrow><\/math>goal coordinates in your plot.<\/span> <\/div>
Generate <\/span>1<\/mn><\/mrow><\/math> plot that shows your open<\/span>-<\/mo><\/mrow><\/math>loop controller running on the noisy system <\/span>(<\/mi><\/mrow><\/math>it<\/span>'<\/mi><\/mrow><\/math>s ok if it doesn't work on this system<\/span>)<\/mi>.<\/mo><\/mrow><\/math> Include the<\/span> <\/div>
path taken and the start<\/span>\/<\/mi><\/mrow><\/math>goal coordinates in your plot.<\/span> <\/div>
[<\/mi><\/mtext>]<\/mi><\/mrow><\/math> def open<\/span>_<\/mo><\/mrow><\/math>loop<\/span>_<\/mo><\/mrow><\/math>control<\/span>_<\/mo><\/mrow><\/math>policy<\/span>(<\/mi><\/mrow><\/math>init<\/span>_<\/mo><\/mrow><\/math>state: np<\/span>.<\/mo><\/mrow><\/math>ndarray, goal: np<\/span>.<\/mo><\/mrow><\/math>ndarray, num<\/span>_<\/mo><\/mrow><\/math>steps: int <\/span>=<\/mo><\/mtext>1<\/mn>0<\/mn>)<\/mi><\/mtext><\/mo><\/mrow><\/math> list<\/span>[<\/mi><\/mrow><\/math>np<\/span>.<\/mo><\/mrow><\/math>ndarray<\/span>]<\/mi><\/mrow><\/math>:<\/span> <\/div>
## Your Implementation Here ##<\/span><\/div>
raise NotImplementedError<\/span><\/div>
return control<\/span>_<\/mo><\/mrow><\/math>sequence<\/span> <\/div>
o<\/mi>.<\/mo><\/mrow><\/math> np<\/span>.<\/mo><\/mrow><\/math>random.seed <\/span>(<\/mi>0<\/mn>)<\/mi><\/mrow><\/math> <\/div>
max<\/span>_<\/mo><\/mrow><\/math>num<\/span>_<\/mo><\/mrow><\/math>steps <\/span>=<\/mo>2<\/mn>0<\/mn>0<\/mn><\/mrow><\/math> <\/div>
env. unwrapped.motion<\/span>_<\/mo><\/mrow><\/math>model <\/span>=<\/mo><\/mrow><\/math> Unicycle<\/span>(<\/mi><\/mrow><\/math> <\/span> <\/div><\/span> <\/div><\/div> \"image", "transcribed_text": "", "related_book": { "title": null, "isbn": null, "edition": null, "authors": null, "cover_image": null, "uri": null, "see_more_uri": "" }, "free_related_book": { "isbn": "", "uri": "", "name": "", "edition": "" }, "question_posted": "2024-09-13 00:04:19", "see_more_questions_link": "\/study-help\/questions\/computer-science-operating-system-2022-August-09", "step_by_step_answer": "The Answer is in the image, click to view ...", "students_also_viewed": [ { "url": "\/study-help\/industrial-organizational-psychology-understanding-the-workplace\/2-which-of-the-following-people-would-be-the-most-2001877", "description": "2. Which of the following people would be the most likely to agree with the statement Language facilitates the development of culture? a. Lev Vygotsky b. Benjamin Whorf c. Sue Savage-Rumbaugh d....", "stars": 0 }, { "url": "\/selected-account-balances-at-december-31-2014-for-infosys-company", "description": "Selected account balances at December 31, 2014, for Infosys Company follow. Prepare a multistep income statement for the year ended December 31, 2014. Show detail of net sales. The company uses the...", "stars": 3 }, { "url": "\/study-help\/questions\/using-the-unicycle-model-you-implemented-above-you-will-now-10520982", "description": "Using the Unicycle model you implemented above, you will now command the system to reach a goal position. Start with open - loop control, i . e . , measure the intial state ( returned by env. reset )...", "stars": 3 }, { "url": "\/study-help\/questions\/i-have-attached-the-statement-and-the-chart-that-i-9681027", "description": "I have attached the statement and the chart that i need help with. Financial Statements", "stars": 3 }, { "url": "\/study-help\/questions\/a-large-container-made-to-hold-water-has-the-1022634", "description": "() A large container made to hold water has the equation z = 4(x + y) 3\/2 (The z-axis points up.) (a) Find a formula for V(z), the volume of water in the container when its depth is z. ANSWER: V(z) =...", "stars": 3 }, { "url": "\/study-help\/questions\/a-car-accelerates-from-rest-to-7-msin-34-seconds-1022678", "description": "A car accelerates from rest to 7 m\/sin 3.4 seconds. How far (in meters) did it travel during this time period?", "stars": 3 }, { "url": "\/study-help\/questions\/b-according-to-the-diagram-if-this-firm-is-operating-1023115", "description": "(b) According to the diagram, if this firm is operating in the short-run (SR), which price (at least) must the firm receive for its output, to enable it to continue to produce? Provide a brief...", "stars": 3 }, { "url": "\/study-help\/questions\/determine-which-of-schedules-1-through-3-the-taxpayers-will-5444394", "description": "Determine which of Schedules 1 through 3 the taxpayer(s) will file with Form 1040 for each case: A) Abby and Bert are married, file a joint tax return, and have two qualifying children (ages 4 and...", "stars": 3 }, { "url": "\/study-help\/questions\/explain-a-difficult-professional-decision-that-you-made-and-discuss-1022500", "description": "Explain a difficult professional decision that you made and discuss, with the benefit of hindsight, whether you would decide differently in similar situations in the future", "stars": 3 } ], "next_back_navigation": { "previous": "\/study-help\/questions\/lockman-company-has-the-following-information-related-to-its-inventory-10520981", "next": "\/study-help\/questions\/a-which-is-an-antonym-word-or-term-that-means-10520983" }, "breadcrumbs": [ { "name": "Study help", "link": "https:\/\/www.solutioninn.com\/study-help\/questions-and-answers" }, { "name": "Computer Science", "link": "https:\/\/www.solutioninn.com\/study-help\/questions-and-answers\/computer-science" }, { "name": "Databases", "link": "https:\/\/www.solutioninn.com\/study-help\/questions\/computer-science-databases" }, { "name": "Using the Unicycle model you implemented above, you will now command the", "link": "https:\/\/www.solutioninn.com\/study-help\/questions\/using-the-unicycle-model-you-implemented-above-you-will-now-10520982" } ], "skill_details": { "skill_id": "656", "skill_name": "Databases", "parent_id": "8" } } }