import numpy as np
import matplotlib.pyplot as plt
import heapq
import time
import math
from tqdm import tqdm
class ThreatMap:
def __init__(self, width, height, resolution=100):
self.width = width
self.height = height
self.resolution = resolution # meters per grid cell
self.terrain = np.zeros((width, height))
self.radars = []
self.fires = []
self.threat_map = np.zeros((width, height, 3)) # [terrain, radar, fire]
self.combined_threat = np.zeros((width, height))
self.weights = np.array([0.2, 0.2, 0.3]) # Initial weights [wg, wR, wAA]
def generate_terrain(self, terrain_type='mountain'):
if terrain_type == 'mountain':
# Generate mountain-like terrain
x = np.linspace(0, 10, self.width)
y = np.linspace(0, 10, self.height)
X, Y = np.meshgrid(x, y)
Z = 500 * np.sin(0.5*X) * np.cos(0.5*Y) + 300
self.terrain = Z.T
elif terrain_type == 'valley':
# Generate valley terrain
for i in range(self.width):
for j in range(self.height):
self.terrain[i, j] = 100 + 50 * np.sin(i/20) + 50 * np.cos(j/20)
# Normalize terrain
self.terrain = (self.terrain - np.min(self.terrain)) / (np.max(self.terrain) - np.min(self.terrain)) * 1000
def add_radar(self, x, y, direction, max_range, fov=120):
self.radars.append({
'pos': (x, y),
'direction': direction, # in degrees
'max_range': max_range, # in meters
'fov': fov # field of view in degrees
})
def add_fire(self, x, y, min_range, max_range):
self.fires.append({
'pos': (x, y),
'min_range': min_range,
'max_range': max_range
})
def calculate_terrain_threat(self, x, y, z):
h_max = np.max(self.terrain[x, y])
h_min = np.min(self.terrain[x, y])
return (h_max - h_min) / (z - h_max + 1e-5)
def calculate_radar_threat(self, x, y, z):
threat = 0
for radar in self.radars:
rx, ry = radar['pos']
dx = (x - rx) * self.resolution
dy = (y - ry) * self.resolution
distance = np.sqrt(dx**2 + dy**2)
# Check if within max range
if distance > radar['max_range']:
continue
# Check if within field of view
angle = math.degrees(math.atan2(dy, dx))
angle_diff = abs((angle - radar['direction'] + 180) % 360 - 180)
if angle_diff > radar['fov'] / 2:
continue
# Calculate radar threat with exponential decay
if distance < radar['max_range']:
threat += np.exp(-10 * distance / radar['max_range'])
return threat
def calculate_fire_threat(self, x, y):
threat = 0
for fire in self.fires:
fx, fy = fire['pos']
dx = (x - fx) * self.resolution
dy = (y - fy) * self.resolution
distance = np.sqrt(dx**2 + dy**2)
if distance < fire['min_range'] or distance > fire['max_range']:
continue
threat += np.exp(-10 * (distance - fire['min_range']) /
(fire['max_range'] - fire['min_range']))
return threat
def calculate_threats(self, z=500):
for i in range(self.width):
for j in range(self.height):
# Terrain threat
self.threat_map[i, j, 0] = self.calculate_terrain_threat(i, j, z)
# Radar threat
self.threat_map[i, j, 1] = self.calculate_radar_threat(i, j, z)
# Fire threat
self.threat_map[i, j, 2] = self.calculate_fire_threat(i, j)
def variable_weighting(self, T):
"""Apply variable weighting based on threat levels"""
S = np.array([
1 + np.exp(T[0]),
1 + 1/(T[1] + 1),
1 + 1/(T[2] + 1)
])
W_prime = self.weights * S / np.sum(self.weights * S)
return np.sum(W_prime * T)
def combine_threats(self):
for i in range(self.width):
for j in range(self.height):
T = self.threat_map[i, j]
self.combined_threat[i, j] = self.variable_weighting(T)
def plot_threat_map(self):
plt.figure(figsize=(12, 10))
plt.imshow(self.combined_threat.T, origin='lower', cmap='hot')
# Plot radars
for radar in self.radars:
x, y = radar['pos']
plt.scatter(x, y, s=100, c='blue', marker='^', label='Radar')
# Plot fires
for fire in self.fires:
x, y = fire['pos']
plt.scatter(x, y, s=100, c='red', marker='o', label='Fire')
plt.colorbar(label='Threat Level')
plt.title('Combined Threat Map')
plt.xlabel('X (grid cells)')
plt.ylabel('Y (grid cells)')
plt.legend()
plt.show()
class ImprovedARAStar:
def __init__(self, threat_map, max_turn_angle=45):
self.threat_map = threat_map
self.width = threat_map.width
self.height = threat_map.height
self.resolution = threat_map.resolution
self.max_turn_angle = max_turn_angle # in degrees
self.k = 0.2 # Threat penalty coefficient
self.epsilon = 2.0 # Initial epsilon
def heuristic(self, a, b):
# Euclidean distance
return math.sqrt((a[0]-b[0])**2 + (a[1]-b[1])**2) * self.resolution
def get_neighbors(self, node, parent):
neighbors = []
# 8-connected grid
for dx in [-1, 0, 1]:
for dy in [-1, 0, 1]:
if dx == 0 and dy == 0:
continue
x, y = node[0] + dx, node[1] + dy
# Check bounds
if x < 0 or x >= self.width or y < 0 or y >= self.height:
continue
# Check turn angle constraint if parent exists
if parent:
px, py = parent
# Vector from parent to current node
vec1 = (node[0] - px, node[1] - py)
# Vector from current node to neighbor
vec2 = (x - node[0], y - node[1])
# Calculate angle between vectors
dot = vec1[0]*vec2[0] + vec1[1]*vec2[1]
mag1 = math.sqrt(vec1[0]**2 + vec1[1]**2)
mag2 = math.sqrt(vec2[0]**2 + vec2[1]**2)
if mag1 > 0 and mag2 > 0:
cos_angle = dot / (mag1 * mag2)
angle = math.degrees(math.acos(max(min(cos_angle, 1), -1)))
if angle > self.max_turn_angle:
continue
neighbors.append((x, y))
return neighbors
def path_cost(self, a, b):
# Euclidean distance
dx = (a[0]-b[0]) * self.resolution
dy = (a[1]-b[1]) * self.resolution
return math.sqrt(dx**2 + dy**2)
def plan(self, start, goal, max_time=60):
OPEN = []
CLOSED = {}
INCONS = {}
# Initialize start node
g_score = {start: 0}
h_score = self.heuristic(start, goal)
T_score = self.threat_map.combined_threat[start[0], start[1]]
epsilon_s = self.epsilon * (1 + self.k * T_score)
f_score = {start: g_score[start] + epsilon_s * h_score}
heapq.heappush(OPEN, (f_score[start], start))
parent = {start: None}
start_time = time.time()
path_found = False
while OPEN and time.time() - start_time < max_time:
_, current = heapq.heappop(OPEN)
if current == goal:
path_found = True
break
CLOSED[current] = g_score[current]
neighbors = self.get_neighbors(current, parent.get(current))
for neighbor in neighbors:
# Calculate tentative g_score
tentative_g = g_score[current] + self.path_cost(current, neighbor)
# Get threat value for neighbor
T_neighbor = self.threat_map.combined_threat[neighbor[0], neighbor[1]]
epsilon_s = self.epsilon * (1 + self.k * T_neighbor)
if neighbor in CLOSED and tentative_g >= CLOSED.get(neighbor, float('inf')):
continue
if tentative_g < g_score.get(neighbor, float('inf')):
parent[neighbor] = current
g_score[neighbor] = tentative_g
h_val = self.heuristic(neighbor, goal)
f_score[neighbor] = tentative_g + epsilon_s * h_val
if neighbor in CLOSED:
INCONS[neighbor] = g_score[neighbor]
else:
heapq.heappush(OPEN, (f_score[neighbor], neighbor))
# Reconstruct path
path = []
if path_found:
current = goal
while current is not None:
path.append(current)
current = parent.get(current)
path.reverse()
# Calculate path metrics
path_length = 0
threat_value = 0
if len(path) > 1:
for i in range(1, len(path)):
path_length += self.path_cost(path[i-1], path[i])
threat_value += self.threat_map.combined_threat[path[i][0], path[i][1]]
threat_value /= len(path)
return path, path_length, threat_value, time.time() - start_time
def plot_path(self, path, title="Path Planning Result"):
plt.figure(figsize=(12, 10))
plt.imshow(self.threat_map.combined_threat.T, origin='lower', cmap='hot')
# Plot radars
for radar in self.threat_map.radars:
x, y = radar['pos']
plt.scatter(x, y, s=100, c='blue', marker='^', label='Radar')
# Plot fires
for fire in self.threat_map.fires:
x, y = fire['pos']
plt.scatter(x, y, s=100, c='red', marker='o', label='Fire')
# Plot path
if path:
path_x = [p[0] for p in path]
path_y = [p[1] for p in path]
plt.plot(path_x, path_y, 'g-', linewidth=2, label='Planned Path')
plt.scatter(path_x[0], path_y[0], s=150, c='green', marker='o', label='Start')
plt.scatter(path_x[-1], path_y[-1], s=150, c='purple', marker='*', label='Goal')
plt.colorbar(label='Threat Level')
plt.title(title)
plt.xlabel('X (grid cells)')
plt.ylabel('Y (grid cells)')
plt.legend()
plt.show()
# Simulation and Experiment
def run_simulation():
# Create threat map
width, height = 100, 100
threat_map = ThreatMap(width, height, resolution=100)
threat_map.generate_terrain('mountain')
# Add threats (radars and fires)
threat_map.add_radar(20, 80, 45, 5000)
threat_map.add_radar(60, 40, 180, 4000)
threat_map.add_radar(80, 70, 270, 6000)
threat_map.add_fire(30, 30, 1000, 3000)
threat_map.add_fire(50, 60, 1500, 4000)
threat_map.add_fire(70, 20, 2000, 3500)
# Calculate threats
threat_map.calculate_threats(z=500)
threat_map.combine_threats()
# Plot threat map
threat_map.plot_threat_map()
# Create planner
planner = ImprovedARAStar(threat_map)
# Define scenarios
scenarios = {
'Easy': {'start': (10, 90), 'goal': (90, 10), 'max_time': 60},
'Medium': {'start': (5, 5), 'goal': (95, 95), 'max_time': 120},
'Hard': {'start': (10, 50), 'goal': (90, 50), 'max_time': 300}
}
results = []
# Run simulations
for name, params in scenarios.items():
print(f"\nRunning {name} scenario...")
start, goal = params['start'], params['goal']
# Plan path
path, length, threat, time_used = planner.plan(start, goal, params['max_time'])
if path:
print(f"Path found! Length: {length:.2f}m, Avg Threat: {threat:.4f}, Time: {time_used:.2f}s")
planner.plot_path(path, title=f"{name} Scenario Path Planning")
else:
print("No path found!")
results.append({
'scenario': name,
'success': bool(path),
'path_length': length,
'avg_threat': threat,
'time': time_used
})
# Print results
print("\nSimulation Results:")
print("{:<10} {:<10} {:<15} {:<15} {:<10}".format(
"Scenario", "Success", "Path Length(m)", "Avg Threat", "Time(s)"))
for res in results:
print("{:<10} {:<10} {:<15.2f} {:<15.4f} {:<10.2f}".format(
res['scenario'],
str(res['success']),
res['path_length'],
res['avg_threat'],
res['time']))
# Additional experiments (ablation study)
print("\nRunning ablation study...")
# Remove fire threats
print("\nWithout fire threats:")
threat_map_no_fire = ThreatMap(width, height, resolution=100)
threat_map_no_fire.terrain = threat_map.terrain.copy()
threat_map_no_fire.radars = threat_map.radars.copy()
threat_map_no_fire.calculate_threats(z=500)
threat_map_no_fire.combine_threats()
planner_no_fire = ImprovedARAStar(threat_map_no_fire)
path, length, threat, time_used = planner_no_fire.plan(scenarios['Medium']['start'],
scenarios['Medium']['goal'],
120)
planner_no_fire.plot_path(path, "Path Planning Without Fire Threats")
# Remove radar threats
print("\nWithout radar threats:")
threat_map_no_radar = ThreatMap(width, height, resolution=100)
threat_map_no_radar.terrain = threat_map.terrain.copy()
threat_map_no_radar.fires = threat_map.fires.copy()
threat_map_no_radar.calculate_threats(z=500)
threat_map_no_radar.combine_threats()
planner_no_radar = ImprovedARAStar(threat_map_no_radar)
path, length, threat, time_used = planner_no_radar.plan(scenarios['Medium']['start'],
scenarios['Medium']['goal'],
120)
planner_no_radar.plot_path(path, "Path Planning Without Radar Threats")
# Remove terrain threats
print("\nWithout terrain threats:")
threat_map_no_terrain = ThreatMap(width, height, resolution=100)
threat_map_no_terrain.radars = threat_map.radars.copy()
threat_map_no_terrain.fires = threat_map.fires.copy()
threat_map_no_terrain.calculate_threats(z=500)
threat_map_no_terrain.combine_threats()
planner_no_terrain = ImprovedARAStar(threat_map_no_terrain)
path, length, threat, time_used = planner_no_terrain.plan(scenarios['Medium']['start'],
scenarios['Medium']['goal'],
120)
planner_no_terrain.plot_path(path, "Path Planning Without Terrain Threats")
if __name__ == "__main__":
run_simulation()
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