From 24d7737399150c128ea42948908ecda76e6dfbde Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E8=8E=B2=E5=AD=90=E5=BF=83?= <2316365837@qq.com> Date: Wed, 28 Jan 2026 18:31:58 +0800 Subject: [PATCH] optimaze the scan func --- template/agent_prompt.py | 2 +- uav_langchain_tools.py | 95 +++++++++++++++++++++++----------------- 2 files changed, 55 insertions(+), 42 deletions(-) diff --git a/template/agent_prompt.py b/template/agent_prompt.py index c2235ef..d359155 100644 --- a/template/agent_prompt.py +++ b/template/agent_prompt.py @@ -91,7 +91,7 @@ Tips for you to finish task in the most efficient way: 10. Line formation means after finishing the task the two (or more) drones should move to a same position. Begin! 11. Before executing a task or moving to a new position, must get the nearby entities first. -12. The max moving distance for a single move_to or navigate_to command is 300 meters. If the distance is longer than that, find a mediam point to go first. +12. The max moving distance for a single move_to or navigate_to command is 500 meters. If the distance is longer than that, find a mediam point to go first. 13. When targets cannot be found, call `auto_scan_all_environment` as early as possible. 14. When `auto_scan_all_environment` is not completed, control multiple active drones move to unvisited scan points , use `get_scan_points` to get the list of scan points categorized by visited status and current drone positions. 15. Executing tasks implicitly performs environment perception, so avoid using the `get_nearby_entities` API as much as possible. diff --git a/uav_langchain_tools.py b/uav_langchain_tools.py index 80dd797..a3c58fd 100644 --- a/uav_langchain_tools.py +++ b/uav_langchain_tools.py @@ -12,40 +12,6 @@ from typing import List, Dict, Any, Optional # --- 构建地图scan points --- -# 核心参数 -r = 150 # 侦察半径(m) -map_width = 1024 # 地图宽度(m) -map_height = 768 # 地图高度(m) -dx = r * math.sqrt(3) # 横向点间距 -dy = 1.5 * r # 纵向行间距 - -# 正六边形网格侦察点坐标列表 (x, y) -drone_points = [ - # 第1行（奇数行）：y=150.0 - (round(dx/2, 4), 150.0), # (129.9038, 150.0) - (round(dx/2 + dx, 4), 150.0), # (389.7114, 150.0) - (round(dx/2 + 2*dx, 4), 150.0), # (649.5190, 150.0) - (round(dx/2 + 3*dx, 4), 150.0), # (909.3266, 150.0) - - # 第2行（偶数行）：y=375.0 (150+225) - (round(dx, 4), 375.0), # (259.8076, 375.0) - (round(dx + dx, 4), 375.0), # (519.6152, 375.0) - (round(dx + 2*dx, 4), 375.0), # (779.4228, 375.0) - (round(dx + 3*dx, 4), 375.0), # (1039.2304, 375.0) # 略超1024，覆盖右边缘 - - # 第3行（奇数行）：y=600.0 (375+225) - (round(dx/2, 4), 600.0), # (129.9038, 600.0) - (round(dx/2 + dx, 4), 600.0), # (389.7114, 600.0) - (round(dx/2 + 2*dx, 4), 600.0), # (649.5190, 600.0) - (round(dx/2 + 3*dx, 4), 600.0), # (909.3266, 600.0) - - # 第4行（偶数行）：y=825.0 (600+225) # 略超768，覆盖上边缘 - (round(dx, 4), 825.0), # (259.8076, 825.0) - (round(dx + dx, 4), 825.0), # (519.6152, 825.0) - (round(dx + 2*dx, 4), 825.0), # (779.4228, 825.0) - (round(dx + 3*dx, 4), 825.0) # (1039.2304, 825.0) -] - class ScanPointInfo: def __init__(self, x: float, y: float): self.x: float = x @@ -59,8 +25,36 @@ class ScanPointInfo: "y": self.y, "visited": self.visited } - -scan_points = [ScanPointInfo(x, y) for x, y in drone_points] + +def map_to_drones_points(map_width=1024.0, map_height=768.0) -> List[ScanPointInfo]: + """Generate a list of scan points using a hexagonal grid pattern.""" + # 核心参数 + r = 150 # 侦察半径(m) + dx = r * math.sqrt(3) # 横向点间距 + dy = 1.5 * r # 纵向行间距 + + # 确定坐标范围，处理负数、一正一负等情况 + min_x, max_x = sorted([0.0, float(map_width)]) + min_y, max_y = sorted([0.0, float(map_height)]) + + # 正六边形网格侦察点坐标列表 (x, y) + points = [] + y = min_y + r + row = 1 + while y < max_y + r: + # 奇数行偏移 dx/2，偶数行偏移 dx + x_start = min_x + ((dx / 2) if row % 2 != 0 else dx) + x = x_start + while x < max_x + r: + points.append(ScanPointInfo(round(x, 4), round(y, 4))) + x += dx + y += dy + row += 1 + return points + +#初始地图 +scan_points = map_to_drones_points(1024,768) + def scan_point_is_reached(scan_point: ScanPointInfo, drone_pos: tuple[float, float], threshold: float = 30.0) -> bool: """判断当前位置在侦察点附近""" @@ -1295,6 +1289,10 @@ def create_uav_tools(client: UAVAPIClient) -> list: else: error_str += f" Try not move so far." return json.dumps({"status": "error", "message": error_str}) + + # check if the point is reached by any drone + scan_point_is_reached_by_drones(drone_id, wp[0], wp[1]) + final_msg = waypoint_move_result.get("message", "Success") if len(waypoints) > 1 and move_towards_flag: @@ -1618,12 +1616,12 @@ def create_uav_tools(client: UAVAPIClient) -> list: tasks[q_drones[i % len(q_drones)]].append(p) assigned_points.add(p) - print("Drone Quadrants:", drone_quadrants) - print("Quadrants Points:", quadrants_points) + # print("Drone Quadrants:", drone_quadrants) + # print("Quadrants Points:", quadrants_points) # 兜底：分配那些所在区域没有无人机的点 remaining_points = [p for p in unvisited_points if p not in assigned_points] - print("Remaining points:", remaining_points) + # print("Remaining points:", remaining_points) if remaining_points: for i, p in enumerate(remaining_points): tasks[active_drones[i % num_drones]].append(p) @@ -1707,7 +1705,21 @@ def create_uav_tools(client: UAVAPIClient) -> list: except Exception as e: return f"Error getting scan points: {str(e)}" - + @tool + def get_more_possible_scan_points() -> str: + """ + When scan_points are all visited, but cannot find the target, use this function to get more possible scan points, which x or y is negative. + + No input required. + """ + global scan_points + scan_points += map_to_drones_points(1024,-768) + scan_points += map_to_drones_points(-1024,768) + scan_points += map_to_drones_points(-1024,-768) + return """SUCCESS: Search area expanded with negative coordinate grids. + ACTION REQUIRED: Call 'get_scan_points' to retrieve the new unvisited points. + STRATEGY: Use `auto_scan_all_environment` first.Then Prioritize unvisited points within a 300m radius of (0,0), like (-157,57), (-157,-256),(256,-157).et. + """ # Return all tools return [ list_drones, @@ -1740,5 +1752,6 @@ def create_uav_tools(client: UAVAPIClient) -> list: get_all_waypoints, get_targets, auto_scan_all_environment, - get_scan_points + get_scan_points, + get_more_possible_scan_points ]