optimum_trajectory_regenerate

[harunkurtdev]

Hello, while looking at your code, I am not sure if there is an error in the operation, but you can look at it here.

I get an error like this when we use agents in this way.

Traceback (most recent call last):
  File "/home/x/swarm.py", line 216, in <module>
    safe_trajectory = cc.main()
  File "/home/x/swarm.py", line 51, in main
    ax1 , ay1 = self.optimum_trajectory_regenerate(trajUAV=trajUAVPre, xc=self.xc[i], yc=self.yc[i], xt=self.xt[i], yt=self.yt[i], N=self.N, h=self.h, r=self.r_col, ID=i,K=K)
  File "/home/x/swarm.py", line 179, in optimum_trajectory_regenerate
    var3 = (var1.T-var2.T).T@c.T
TypeError: unsupported operand type(s) for -: 'float' and 'NoneType'

I use that your code like this,

x_init = [0, 1, 2]   # Example initial x positions of agents
y_init = [0, 1, 2]   # Example initial y positions of agents
x_final = [3, 4, 5]  # Example final x positions of agents
y_final = [-3, -4, -5]  # Example final y positions of agents
N = 10               # Number of waypoints
numUAV = 3           # Number of agents
h = 0.1              # Discrete time step
r_col = 0.5          # Collision radius

# Instantiate the convex_collision object
cc = convex_collison(x_init, y_init, x_final, y_final, N, numUAV, h, r_col)

# Compute the safe trajectory for the swarm
safe_trajectory = cc.main()

# Access the safe trajectory from the returned value
print("Safe Trajectory:", safe_trajectory)


# Extract x and y coordinates for each agent from the safe trajectory
agent_paths = safe_trajectory

# Plot the paths of each agent
for agent_id, path in enumerate(agent_paths):
    x_path, y_path = path
    plt.plot(x_path, y_path, label=f"Agent {agent_id+1}")

# Add initial positions
for agent_id, (x_init_agent, y_init_agent) in enumerate(zip(x_init, y_init)):
    plt.scatter(x_init_agent, y_init_agent, color='red', marker='o', label=f"Initial position of Agent {agent_id+1}")

# Add final positions
for agent_id, (x_final_agent, y_final_agent) in enumerate(zip(x_final, y_final)):
    plt.scatter(x_final_agent, y_final_agent, color='green', marker='x', label=f"Final position of Agent {agent_id+1}")

# Set plot title and labels
plt.title("Safe Trajectory of Swarm Agents")
plt.xlabel("X Position")
plt.ylabel("Y Position")
plt.legend()
plt.grid(True)

# Show plot
plt.show()

can you explain why is it getting error ?