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Car Racing Competition at WCCI2008 - Chin Hiong Tan


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Presentation of the Chin Hiong Tan's entry to the Car Racing Competition held at the 2008 IEEE World Congress on Computational Intelligence.

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Car Racing Competition at WCCI2008 - Chin Hiong Tan

  1. 1. Tan Chin Hiong <ul><li>Three main control components </li></ul><ul><ul><li>Sensor fusion </li></ul></ul><ul><ul><li>Speed regulation </li></ul></ul><ul><ul><li>Steering direction </li></ul></ul>
  2. 2. Sensor fusion <ul><li>Merge 2 main field sensors </li></ul><ul><ul><li>TrackEdgeSensors (19 inputs) </li></ul></ul><ul><ul><li>OpponentSensors (18 inputs) </li></ul></ul><ul><ul><li>Main idea: find the nearest obstacle in visual field </li></ul></ul><ul><li>For inputs 0 to 8 </li></ul><ul><ul><li>CombinedSensor(i) = min(TrackEdgeSensors(i),OpponentSensors(i)) </li></ul></ul><ul><li>For input 9 (front sensor) </li></ul><ul><ul><li>CombinedSensor(9) = min(TrackEdgeSensors(9),OpponentSensors(8),OpponentSensors(9)) </li></ul></ul><ul><li>For inputs 10 to 18 </li></ul><ul><ul><li>CombinedSensor(i) = min(TrackEdgeSensors(i),OpponentSensors(i-1)) </li></ul></ul>
  3. 3. Sensor fusion <ul><li>Find the largest free distance from CombinedSensor </li></ul><ul><ul><li>LargestFreeDistance </li></ul></ul><ul><ul><li>LFDAngle </li></ul></ul>
  4. 4. Speed regulation <ul><li>If {no obstacle directly in front} AND {car is aligned to track axis} </li></ul><ul><ul><li>TargetSpeed = 249.88 (evolved) </li></ul></ul><ul><li>Else </li></ul><ul><ul><li>TargetSpeed = 0.27 (evolved) * CombinedSensor(9) (front) + 1.94 (evolved) * LargestFreeDistance </li></ul></ul>
  5. 5. Steering direction <ul><li>Always move in the direction of the largest free distance </li></ul><ul><li>Exception: </li></ul><ul><ul><li>If LargestFreeDistance == 100 </li></ul></ul><ul><ul><ul><li>Align car to middle of the road </li></ul></ul></ul>