Seal bot - Demolition Derby 2012 Winner
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Seal bot - Demolition Derby 2012 Winner

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Seal bot - Demolition Derby 2012 Winner Seal bot - Demolition Derby 2012 Winner Presentation Transcript

  • SEALbot Demolition Derby 2012 Anderson Rocha Tavares Gabriel de Oliveira Ramos Renato de Pontes Pereira S´rgio Montazzolli Silva e Ana L. C. Bazzan{artavares,goramos,rppereira,smsilva,bazzan}@inf.ufrgs.br Programa de P´s Gradua¸˜o em Computa¸˜o o ca ca Instituto de Inform´tica a Universidade Federal do Rio Grande do Sul Porto Alegre, Brasil July 2nd, 2012
  • SEALbot Introduction Its strategy is based on four behaviors: S - Stuck E - Evade A - Attack L - Look for opponents In order to select a behavior, a scoring mechanism is used to rank each behavior based on the car sensors, identifying the most relevant for the current environment stateDemolition Derby 2012 2/11
  • SEALbot Stuck behavior Stuck When stuck in the wall or by opponents What to do? If stuck in the wall: reverse gear, full throttle, steer to track axis If SEALbot is face to face with an opponent: reverse gear, full throttle If an opponent is hitting the SEALbot’s side: start evade behavior. It must go away from the wall as soon as possible to avoid being hitDemolition Derby 2012 3/11
  • SEALbot Evade behavior Evade When an opponent’s potential attack is detected What to do? Run away, fast! (keeping on the track’s axis) Keeps itself at maximum speed on track’s axis, making it harder to being hitDemolition Derby 2012 4/11
  • SEALbot Attack behavior Attack When an opponent is detected (and if it can be reached) What to do? Attack! It takes into account the distance and orientation of each opponent to choose the one that is most likely to get damaged. Two kinds: Frontal attack: when the opponent is ahead Do line of sight chase Steer in proportion of the angle to opponent Full throttle when aligned with opponent Drops acceleration when angle to opponent is high (do sharp turns) Side attack: when the car is running side by side with an opponent Steers in direction of angle to opponentDemolition Derby 2012 5/11
  • SEALbot Look for opponents behavior Look for opponents When no opponent is visible What to do? Go for a ride (moderate acceleration, driving on track axis) It is usually selected when the others behaviors are not availableDemolition Derby 2012 6/11
  • SEALbot Score Behaviors are scored from -1 to 1: S - if stuck is 1 otherwise is -1 E - fuzzy A - fuzzy L - always 0 The higher one is selected as current behaviorDemolition Derby 2012 7/11
  • SEALbot Fuzzy Scores only Evade and Attack behaviors Each opponent is scored and the higher one is selected (both for Evade and Attack) Considers the following opponents’ properties: Angle (between SEALbot’s front and opponent) Distance (from the opponent) Direction (of the opponent) Properties are normalized Score the opponents from -1 to 1Demolition Derby 2012 8/11
  • SEALbot Fuzzy rules Frontal attack: the score increases when opponent: approaches the SEALbot’s front (or they are side by side) and gets closer and its direction is inverse or the same of SEALbot Side attack: the score increases when opponent: is side by side with SEALbot and gets closer and its direction is the same of SEALbot Evade: the score increases when opponent: approaches the SEALbot’s rear and gets closer and its direction is the same of SEALbotDemolition Derby 2012 9/11
  • SEALbot Additional information Gear ratio has been optimized to achieve higher speed (up to 220 Km/h) Current gear 1 2 3 4 5 6 Up on (rpm) 8500 9000 9500 9500 9500 - Down on (rpm) - 3300 6200 7000 7300 7700Demolition Derby 2012 10/11
  • SEALbot Demolition Derby 2012 Anderson Rocha Tavares Gabriel de Oliveira Ramos Renato de Pontes Pereira S´rgio Montazzolli Silva e Ana L. C. Bazzan{artavares,goramos,rppereira,smsilva,bazzan}@inf.ufrgs.br Programa de P´s Gradua¸˜o em Computa¸˜o o ca ca Instituto de Inform´tica a Universidade Federal do Rio Grande do Sul Porto Alegre, Brasil July 2nd, 2012