car racing competition at wcci2008 - diego perez
DESCRIPTION
Presentation of the Diego Perez's entry to the Car Racing Competition held at the 2008 IEEE World Congress on Computational Intelligence.TRANSCRIPT
- 1. WCCI 2008 Racing Car CompetitionRule GA ControllerDiego Prez Libana University Carlos III, MadridProfessors: Yago Sez, Pedro Isasi
2. Table of contents Inputdata Base Individual Rule GA Results and Future Work2 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 3. Input Data I Angle - to Discretization to range: [0,4]3 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 4. Input Data II TrackPosition -1 to 1 Discretization to range: [0,1]4 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 5. Input Data III Speed 0 to ... (km/h) Discretization to range: [0,3]5 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 6. Input Data IV Track 19 sensors, from 0 to 100. Discretization to range: [0,2] If any < 20 : 1 If any < 100 : 0 Else : 26 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 7. Base Individual I First approach120 rules: Angle: [0,4]} Track Position: [0,1]ACC ... Speed: [0,3]STE ... Track: [0,2] Each rule: 0000 0001 .... 4131 4132 Steering: [-1,1] Acceleration: [0,1] Gear bounds: 3000 rpm. 6000 rpm.7 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 8. Base Individual II First approach (cont.) Evolve a GA maximizing the distance raced. TORCS did not behave in a stable way.Second approach Find the rule set that allows the vehicle to end alap, centred on the track. Minimize angle to track axis. Simetry: Could have been the problem? 8 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 9. Rule GA IndividualRules from base individual compose the GA indivudal. N rules, depending on base individual. Including left (conditions) and right (actions) sides. 9 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 10. Rule GA Step Create a new rule by genetic operators. Substitute the new one for the most similar in the individual. If fitness decreases, new rule stays. If not, recover the previous one. Linear combination of lap time (40%) and damage (60%). 10 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 11. Results and Future Work Base individual without simetry. Evolution phase in more than one track.so... See you on CIG 2008! 11 WCCI 2008 Car Racing Competition - Diego Prez Libana - June 2008 12. Q&A