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

1. WCCI 2008 Racing Car Competition
Rule GA Controller
Diego Pérez Liébana
University Carlos III, Madrid
Professors: Yago Sáez, Pedro Isasi

2. Table of contents
 Inputdata
 Base Individual
 Rule GA
 Results and Future Work
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008

3. Input Data I
 Angle
– - to 
– Discretization to range: [0,4]
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008

4. Input Data II
 Track Position
– -1 to 1
– Discretization to range: [0,1]
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008

5. Input Data III
 Speed
– 0 to ... (km/h)
– Discretization to range: [0,3]
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - 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 : 2
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008

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.
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - 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 a
lap, centred on the track.
– Minimize angle to track axis.
– Simetry: Could have been the problem?
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008

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.

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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - 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%).
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008

11. Results and Future Work
 Base individual without simetry.
 Evolution phase in more than one track.
so...
See you on CIG 2008!
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WCCI 2008 Car Racing Competition - Diego Pérez Liébana - June 2008

12. Q&A