def update_table(state, action, next_state, car):
key = (state, action)
reward = -9999 if Tile.collides(car.pose[0], car.pose[1]) else 1
print("Update Q Table: ", key, Q[key], get_best_action(next_state))
Q[key] = Q[key] + learning_rate * (
reward + discount_rate * get_best_action(next_state)[1] - Q[key])
print("New Q Value:", key, Q[key])
def run_trial(cars, models, allsprites, scores, display=True):
np.random.seed()
screen = pygame.display.set_mode((width, height))
pygame.display.set_caption('ArduBot: Development Stage')
pygame.mouse.set_visible(0)
background = pygame.Surface(screen.get_size())
background = background.convert()
background.fill((250, 250, 250))
bg = pygame.image.load("../../images/map1.png")
screen.blit(bg, (0, 0))
pygame.display.flip()
Tile.pre_init(screen)
Tile.load(obstacles())
clock = pygame.time.Clock()
while 1:
clock.tick(60)
blocked = True
for i in range(len(cars)):
car = cars[i]
if Tile.collides(car.pose[0], car.pose[1]) or scores[i] > 1500:
continue
blocked = False
move = models[i].get_action(car.get_relative_state())
car.move(move)
scores[i] += 1
if blocked:
return scores
for event in pygame.event.get():
if event.type == QUIT:
return
elif event.type == KEYDOWN and event.key == K_ESCAPE:
return
elif event.type == KEYDOWN:
car.handle_key(event.key)
allsprites.update()
# Draw Everything
if display:
screen.blit(bg, (0, 0))
allsprites.draw(screen)
pygame.display.flip()
return scores
def update(self):
move = (-1 * self.forward_velocity * math.sin(self.orientation),
self.forward_velocity * math.cos(self.orientation))
# print(to_degrees(self.orientation), move[0], move[1], round(move[0]), round(move[1]))
new_pose = self.rect.move(round(move[0]), round(-1 * move[1]))
if (new_pose[0] <= self.area.left or new_pose[0] >= self.area.right - 50) or \
(new_pose[1] <= self.area.top or new_pose[1] >= self.area.bottom - 50):
return
if Tile.collides(self.pose[0], self.pose[1]):
return -1
self.pose = new_pose.center
self.rect = new_pose
def run_trial(cars, models, allsprites, scores, display=True):
np.random.seed()
screen = pygame.display.set_mode((width, height))
pygame.display.set_caption('ArduBot: Development Stage')
pygame.mouse.set_visible(0)
background = pygame.Surface(screen.get_size())
background = background.convert()
background.fill((250, 250, 250))
bg = pygame.image.load("../../images/map1.png")
screen.blit(bg, (0, 0))
pygame.display.flip()
Tile.pre_init(screen)
Tile.load(obstacles())
clock = pygame.time.Clock()
random_moves = 0
while 1:
clock.tick(60)
blocked = True
states = []
actions = []
for i in range(len(cars)):
car = cars[i]
state = car.get_list()
action = get_best_action(state)[0]
val = np.random.rand()
if val < epsilon():
random_moves += 1
action = possible_actions[np.random.randint(
0, high=len(possible_actions))]
else:
print("Choosing: ", car.pose, get_best_action(state),
(-1.5, Q[(state, -1.5)]), (0, Q[(state, 0)]),
(1.5, Q[(state, 1.5)]))
global count
count += 0.0001 / max_players
states.append(state)
actions.append(action)
if Tile.collides(car.pose[0], car.pose[1]) or scores[i] > 1500:
continue
blocked = False
car.move(action)
scores[i] += 1
if blocked:
return scores, len(Q), random_moves
for event in pygame.event.get():
if event.type == QUIT:
return
elif event.type == KEYDOWN and event.key == K_ESCAPE:
for k in Q:
print(k, Q[k])
return
elif event.type == KEYDOWN:
car.handle_key(event.key)
allsprites.update()
# Update q values
for i in range(len(cars)):
update_table(states[i], actions[i], cars[i].get_list(), cars[i])
# Draw Everything
if display:
screen.blit(bg, (0, 0))
allsprites.draw(screen)
pygame.display.flip()
return scores, len(Q), random_moves
