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it s alive, need to smooth fitness

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alexandre
2019-10-23 16:58:09 +02:00
parent 8511af2e2c
commit bb115a95df
4 changed files with 18 additions and 12 deletions
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13
car.py
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@@ -3,7 +3,7 @@ import random
import pygame import pygame
from brain import Neural_Network from brain import Neural_Network
from params import GY, CAR_MAX_SPEED, CAR_SIZE, CAR_STEERING_FACTOR, VISION_LENGTH, VISION_SPAN, THROTTLE_POWER, screen from params import GY, CAR_MAX_SPEED, CAR_MAX_FITNESS, CAR_SIZE, CAR_STEERING_FACTOR, VISION_LENGTH, VISION_SPAN, THROTTLE_POWER, screen
from trigo import angle_to_vector, get_line_feats, segments_intersection, distance from trigo import angle_to_vector, get_line_feats, segments_intersection, distance
IMG = pygame.image.load("car20.png")#.convert() IMG = pygame.image.load("car20.png")#.convert()
@@ -21,7 +21,6 @@ class Car(pygame.sprite.Sprite):
self.image = self.original_image self.image = self.original_image
self.rect = self.image.get_rect() self.rect = self.image.get_rect()
self.rect.center = (75, GY -50)
self.vision_length = VISION_LENGTH # line liength self.vision_length = VISION_LENGTH # line liength
self.vision_span = VISION_SPAN # degrees self.vision_span = VISION_SPAN # degrees
self.draw_sensors = True self.draw_sensors = True
@@ -50,8 +49,12 @@ class Car(pygame.sprite.Sprite):
self.run = True self.run = True
def reset_car_pos(self): def reset_car_pos(self):
self.rect.center = (
75 - int(random.random()*20) - 10,
GY -50 - int(random.random()*20)-10
)
self.speed = 1 self.speed = 1
self.heading = 0 self.heading = random.random() * 20
self.heading_change = random.random() * 30 self.heading_change = random.random() * 30
def update_sensors(self): def update_sensors(self):
@@ -99,7 +102,7 @@ class Car(pygame.sprite.Sprite):
def probe_brain(self): def probe_brain(self):
res = self.brain.predict(np.array(self.probes)) res = self.brain.predict(np.array(self.probes))
self.heading_change = res[0] * 10 self.heading_change = res[0] * 15
self.throttle = res[1] * 10 self.throttle = res[1] * 10
@@ -110,7 +113,7 @@ class Car(pygame.sprite.Sprite):
self.rect = self.image.get_rect() self.rect = self.image.get_rect()
self.rect.center = old_center self.rect.center = old_center
self.update_position() self.update_position()
if self.speed < 0.01 : if self.speed < 0.01 or self.brain.fitness > CAR_MAX_FITNESS :
self.run = False self.run = False
print(f'Car {id(self)} crashed') print(f'Car {id(self)} crashed')
# print( # print(

3
genetics.py
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@@ -1,6 +1,7 @@
import numpy as np import numpy as np
import random import random
from brain import Neural_Network from brain import Neural_Network
from params import MUTATION_RATE
def genetic_selection(brains): def genetic_selection(brains):
# tot_fitness = sum ([int(b.fitness) for b in brains]) # tot_fitness = sum ([int(b.fitness) for b in brains])
@@ -36,7 +37,7 @@ def cross_mutate_genes(p1_gene, p2_gene):
else : else :
choice = p2_gene[idx] choice = p2_gene[idx]
# Mutation # Mutation
if random.random() < 0.005 : if random.random() < MUTATION_RATE :
choice[random.randint(0, len(choice) - 1)] = random.random() choice[random.randint(0, len(choice) - 1)] = random.random()
print("Mutation !") print("Mutation !")
child.append(choice) child.append(choice)

8
maps.py
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@@ -7,8 +7,8 @@ def generate_map_1() :
(int(GX/2 + 75), int(GY-150)), (int(GX/2 + 75), int(GY-150)),
(int(GX/2 + 150), int(GY-150)), (int(GX/2 + 150), int(GY-150)),
(int(GX -75), int(GY/2)), (int(GX -75), int(GY/2)),
(int(GX/2), int(GY/2 - 75)), (int(GX - 100), int(GY/2 - 75)),
(int(GX/2), int(GY/2 - 150)), (int(GX - 100), int(GY/2 - 150)),
(int(GX -50), int( GY/4 )), (int(GX -50), int( GY/4 )),
(int(3*GX/4 - 50), int(50)), (int(3*GX/4 - 50), int(50)),
(int(50), int(50)), (int(50), int(50)),
@@ -22,8 +22,8 @@ def generate_map_1() :
(int(GX/2 + 50), int(GY-210)), (int(GX/2 + 50), int(GY-210)),
(int(GX/2 + 110), int(GY-210)), (int(GX/2 + 110), int(GY-210)),
(int(GX - 170), int(GY/2 + 30)), (int(GX - 170), int(GY/2 + 30)),
(int(GX/2 - 60 ), int(GY/2 - 20)), (int(GX - 200 ), int(GY/2 - 20)),
(int(GX/2 - 60), int(GY/2 - 200)), (int(GX - 200), int(GY/2 - 200)),
(int(GX -170), int( GY/4 -20)), (int(GX -170), int( GY/4 -20)),
(int(3*GX/4 - 100), int(120)), (int(3*GX/4 - 100), int(120)),
(int(120), int(120)), (int(120), int(120)),

6
params.py
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@@ -7,12 +7,14 @@ GX = 1000
GY = 1000 GY = 1000
CELL_COLOR = (80,80,80) CELL_COLOR = (80,80,80)
CAR_SIZE = 20 CAR_SIZE = 20
CAR_MAX_SPEED = 7 CAR_MAX_SPEED = 6
CAR_MAX_FITNESS = 5000
CAR_STEERING_FACTOR = 10 CAR_STEERING_FACTOR = 10
VISION_LENGTH = 50 VISION_LENGTH = 60
VISION_SPAN = 35 # degrees VISION_SPAN = 35 # degrees
THROTTLE_POWER = 3 THROTTLE_POWER = 3
MUTATION_RATE = 0.01
pygame.init() pygame.init()
screen = pygame.display.set_mode((GX, GY), FLAGS) screen = pygame.display.set_mode((GX, GY), FLAGS)