Upload
daniele-loiacono
View
1.615
Download
0
Embed Size (px)
DESCRIPTION
Presentation of the Chin Hiong Tan's entry to the Car Racing Competition held at the 2008 IEEE World Congress on Computational Intelligence.
Citation preview
Tan Chin Hiong
• Three main control components– Sensor fusion– Speed regulation– Steering direction
Sensor fusion
• Merge 2 main field sensors– TrackEdgeSensors (19 inputs)– OpponentSensors (18 inputs)– Main idea: find the nearest obstacle in visual field
• For inputs 0 to 8– CombinedSensor(i) =
min(TrackEdgeSensors(i),OpponentSensors(i))• For input 9 (front sensor)
– CombinedSensor(9) = min(TrackEdgeSensors(9),OpponentSensors(8),OpponentSensors(9))
• For inputs 10 to 18– CombinedSensor(i) =
min(TrackEdgeSensors(i),OpponentSensors(i-1))
Sensor fusion
• Find the largest free distance from CombinedSensor– LargestFreeDistance– LFDAngle
Speed regulation
• If {no obstacle directly in front} AND {car is aligned to track axis}– TargetSpeed = 249.88 (evolved)
• Else– TargetSpeed = 0.27 (evolved) *
CombinedSensor(9) (front) + 1.94 (evolved) * LargestFreeDistance
Steering direction
• Always move in the direction of the largest free distance
• Exception:– If LargestFreeDistance == 100
• Align car to middle of the road