Car Racing Competition at WCCI2008 - Diego Perez

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Presentation of the Diego Perez'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 - Diego Perez

  1. 1. WCCI 2008 Racing Car Competition Rule GA Controller Diego Pérez Liébana University Carlos III, Madrid Professors: Yago Sáez, Pedro Isasi
  2. 2. Table of contents  Inputdata  Base Individual  Rule GA  Results and Future Work 2 WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008
  3. 3. Input Data I  Angle – - to  – Discretization to range: [0,4] 3 WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008
  4. 4. Input Data II  Track Position – -1 to 1 – Discretization to range: [0,1] 4 WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008
  5. 5. Input Data III  Speed – 0 to ... (km/h) – Discretization to range: [0,3] 5 WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008
  6. 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 : 2 6 WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008
  7. 7. Base Individual I  First approach 120 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 Pérez Liébana - June 2008
  8. 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 a lap, centred on the track. – Minimize angle to track axis. – Simetry: Could have been the problem? 8 WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008
  9. 9. Rule GA Individual Rules 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 Pérez Liébana - June 2008
  10. 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 Pérez Liébana - June 2008
  11. 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 Pérez Liébana - June 2008
  12. 12. Q&A

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