car racing competition at wcci2008 - chin hiong tan

Tan Chin Hiong

• Three main control components– Sensor fusion– Speed regulation– Steering direction

Sensor fusion

• Merge 2 main field sensors– TrackEdgeSensors (19 inputs)– OpponentSensors (18 inputs)– Main idea: find the nearest obstacle in visual field

• For inputs 0 to 8– CombinedSensor(i) =

min(TrackEdgeSensors(i),OpponentSensors(i))• For input 9 (front sensor)

– CombinedSensor(9) = min(TrackEdgeSensors(9),OpponentSensors(8),OpponentSensors(9))

• For inputs 10 to 18– CombinedSensor(i) =

min(TrackEdgeSensors(i),OpponentSensors(i-1))

Sensor fusion

• Find the largest free distance from CombinedSensor– LargestFreeDistance– LFDAngle

Speed regulation

• If {no obstacle directly in front} AND {car is aligned to track axis}– TargetSpeed = 249.88 (evolved)

• Else– TargetSpeed = 0.27 (evolved) *

CombinedSensor(9) (front) + 1.94 (evolved) * LargestFreeDistance

Steering direction

• Always move in the direction of the largest free distance

• Exception:– If LargestFreeDistance == 100

• Align car to middle of the road