def __init__(self, maze_dim):
"""
Used to set up attributes that the robot will use to learn and
navigate the maze.
"""
# Position-related attributes
self.robot_pos = {'location': [0, 0], 'heading': 'up'} # Current pos
self.steps_first_round = 0
self.steps_final_round = 0
self.maze_dim = maze_dim
self.maze_representation = None
# Goal-related attributes
center = maze_dim/2
self.center_locations = [
[center, center], [center - 1, center],
[center, center - 1], [center - 1, center - 1]]
self.reached_destination = False
# For exploring state
self.exploring = False
self.steps_exploring = 0
self.consecutive_explored_cells = 0
# Initialize terrain
self.terrain = Terrain(maze_dim)
# Algorithm to use:
self.algorithm = None
if str(sys.argv[2]).lower() == 'ff':
self.algorithm = FloodFill()
elif str(sys.argv[2]).lower() == 'ar':
self.algorithm = AlwaysRight()
elif str(sys.argv[2]).lower() == 'mr':
self.algorithm = ModifiedRight()
else:
raise ValueError(
"Incorrect algorithm name. Options are: "
"\n- 'ff': flood-fill"
"\n- 'ar': always-right"
"\n- 'mr': modified-right (prefers unvisited cells)"
)
# Explore after reaching center of the maze:
if str(sys.argv[3]).lower() == 'true':
self.explore_after_center = True
elif str(sys.argv[3]).lower() == 'false':
self.explore_after_center = False
else:
raise ValueError(
"Incorrect explore value: Options are: "
"\n- 'true': to keep exploring after reaching the center"
"\n- 'false': to end run immediately after reaching the center"
)
class Robot(object):
def __init__(self, maze_dim):
"""
Used to set up attributes that the robot will use to learn and
navigate the maze.
"""
# Position-related attributes
self.robot_pos = {'location': [0, 0], 'heading': 'up'} # Current pos
self.steps_first_round = 0
self.steps_final_round = 0
self.maze_dim = maze_dim
self.maze_representation = None
# Goal-related attributes
center = maze_dim/2
self.center_locations = [
[center, center], [center - 1, center],
[center, center - 1], [center - 1, center - 1]]
self.reached_destination = False
# For exploring state
self.exploring = False
self.steps_exploring = 0
self.consecutive_explored_cells = 0
# Initialize terrain
self.terrain = Terrain(maze_dim)
# Algorithm to use:
self.algorithm = None
if str(sys.argv[2]).lower() == 'ff':
self.algorithm = FloodFill()
elif str(sys.argv[2]).lower() == 'ar':
self.algorithm = AlwaysRight()
elif str(sys.argv[2]).lower() == 'mr':
self.algorithm = ModifiedRight()
else:
raise ValueError(
"Incorrect algorithm name. Options are: "
"\n- 'ff': flood-fill"
"\n- 'ar': always-right"
"\n- 'mr': modified-right (prefers unvisited cells)"
)
# Explore after reaching center of the maze:
if str(sys.argv[3]).lower() == 'true':
self.explore_after_center = True
elif str(sys.argv[3]).lower() == 'false':
self.explore_after_center = False
else:
raise ValueError(
"Incorrect explore value: Options are: "
"\n- 'true': to keep exploring after reaching the center"
"\n- 'false': to end run immediately after reaching the center"
)
def next_move(self, sensors):
"""
Use this function to determine the next move the robot should make,
based on the input from the sensors after its previous move. Sensor
inputs are a list of three distances from the robot's left, front, and
right-facing sensors, in that order.
Outputs should be a tuple of two values. The first value indicates
robot rotation (if any), as a number: 0 for no rotation, +90 for a
90-degree rotation clockwise, and -90 for a 90-degree rotation
counterclockwise. Other values will result in no rotation. The second
value indicates robot movement, and the robot will attempt to move the
number of indicated squares: a positive number indicates forwards
movement, while a negative number indicates backwards movement. The
robot may move a maximum of three units per turn. Any excess movement
is ignored.
If the robot wants to end a run (e.g. during the first training run in
the maze) then returning the tuple ('Reset', 'Reset') will indicate to
the tester to end the run and return the robot to the start.
"""
# Store current location and direction
x, y, heading = self.get_current_position()
# Get walls for current location
walls = self.get_walls_for_current_location(x, y, heading, sensors)
# If we have reached the center of the maze
if self.is_at_center_of_the_maze(x, y):
# Move backwards
rotation = 0
movement = -1
# Update terrain (visual representation)
self.terrain.update(x, y, heading, walls, self.exploring)
# State that we have reached destination
self.reached_destination = True
# Set flags to exploring
self.exploring = True
# Else, first update distances, then get next move
else:
# 1) Push current location to stack
self.terrain.cells_to_check.append([x, y])
# 2) Add current cell to stack of visited destinations
if [x, y] not in self.terrain.visited_before_reaching_destination:
self.terrain.visited_before_reaching_destination.append([x, y])
# 4) Update terrain and distances
self.terrain.update(x, y, heading, walls, self.exploring)
# 4) Get next move
rotation, movement = self.get_next_move(x, y, heading, sensors)
self.update_location(rotation, movement)
# If we have reached destination, reset values
if rotation == 'Reset' and movement == 'Reset':
self.reset_values()
# If we are about to hit the goal in the second round
if self.robot_pos['location'] in self.center_locations \
and self.steps_final_round != 0:
self.report_results()
return rotation, movement
# --------------------------------------------
# LOCATION-RELATED
# --------------------------------------------
def reset_values(self):
self.robot_pos = {'location': [0, 0], 'heading': 'up'}
def get_current_position(self):
heading = self.robot_pos['heading']
location = self.robot_pos['location']
x = location[0]
y = location[1]
return x, y, heading
def is_at_starting_position(self, x, y):
return x == 0 and y == 0
def is_at_center_of_the_maze(self, x, y):
return [x, y] in self.center_locations
def is_at_a_dead_end(self, sensors):
x, y, heading = self.get_current_position()
adj_distances, adj_visited = \
self.terrain.get_adj_info(x, y, heading, sensors, False)
return sensors == [0, 0, 0] or adj_distances == list(MAX_DISTANCES)
def get_walls_for_current_location(self, x, y, heading, sensors):
if self.is_at_starting_position(x, y):
walls = [1, 0, 1, 1]
# If it had been visited before, just get those values
elif self.terrain.grid[x][y].visited != '':
walls = self.terrain.grid[x][y].get_total_walls()
# Else, get current walls. Note that it can only have real walls
# since the location has never been visited, and imaginary walls
# are the result of dead ends that force the robot to the prev location
else:
# Placeholder
walls = [0, 0, 0, 0]
# Change sensor info to wall info
walls_sensors = [1 if x == 0 else 0 for x in sensors]
# Map walls to correct x and y coordinates
for i in range(len(walls_sensors)):
dir_sensor = dir_sensors[heading][i]
index = wall_index[dir_sensor]
walls[index] = walls_sensors[i]
# Update missing wall index (the cell right behind the robot)
index = wall_index[dir_reverse[heading]]
walls[index] = 0
return walls
def get_new_direction(self, rotation):
if rotation == -90:
return dir_sensors[self.robot_pos['heading']][0]
elif rotation == 90:
return dir_sensors[self.robot_pos['heading']][2]
else:
return self.robot_pos['heading']
def update_location(self, rotation, movement):
if movement == 'Reset' or rotation == 'Reset':
return
else:
movement = int(movement)
# Perform rotation
if rotation == -90:
self.robot_pos['heading'] = \
dir_sensors[self.robot_pos['heading']][0]
elif rotation == 90:
self.robot_pos['heading'] = \
dir_sensors[self.robot_pos['heading']][2]
# Advance
if movement == -1:
self.robot_pos['location'][0] -= \
dir_move[self.robot_pos['heading']][0]
self.robot_pos['location'][1] -= \
dir_move[self.robot_pos['heading']][1]
else:
while movement > 0:
self.robot_pos['location'][0] += \
dir_move[self.robot_pos['heading']][0]
self.robot_pos['location'][1] += \
dir_move[self.robot_pos['heading']][1]
movement -= 1
def number_of_walls(self, sensors):
number_of_walls = 0
for sensor in sensors:
if sensor == 0:
number_of_walls += 1
return number_of_walls
# --------------------------------------------
# MOVEMENT-RELATED
# --------------------------------------------
def get_next_move(self, x, y, heading, sensors):
if self.reached_destination and self.exploring:
rotation, movement = self.explore(x, y, heading, sensors)
self.steps_exploring += 1
elif not self.reached_destination and not self.exploring:
if self.algorithm.name == 'flood-fill' and self.is_at_a_dead_end(sensors):
rotation, movement = self.deal_with_dead_end(x, y, heading)
else:
adj_distances, adj_visited = self.terrain.get_adj_info(
x, y, heading, sensors)
valid_index = self.algorithm.get_valid_index(adj_distances, adj_visited)
rotation, movement = self.convert_from_index(valid_index)
self.steps_first_round += 1
else:
# Final round (optimized movements)
if self.steps_final_round == 0:
print('******* FINAL REPORT *******')
self.terrain.draw()
rotation, movement = self.final_round(x, y, heading, sensors)
self.steps_final_round += 1
return rotation, movement
def get_valid_index(self, x, y, heading, sensors, exploring):
if not exploring:
# 1) Get adjacent distances from sensors
adj_distances, adj_visited = self.terrain.get_adj_info(
x, y, heading, sensors)
# Get min index (guaranteed to not be a wall)
valid_index = adj_distances.index(min(adj_distances))
# Prefer unvisited cells
possible_distance = WALL_VALUE
best_index = WALL_VALUE
for i, dist in enumerate(adj_distances):
if dist != WALL_VALUE and adj_visited[i] is '':
if dist <= possible_distance:
best_index = i
if best_index == 1:
break
if best_index != WALL_VALUE:
valid_index = best_index
else:
# 1) Get adjacent distances from sensors
adj_distances, adj_visited = self.terrain.get_adj_info(
x, y, heading, sensors)
# Convert WALL_VALUES to -1 (robot will follow max distance)
adj_distances = [-1 if dist == WALL_VALUE else dist for dist in
adj_distances]
# Get max index (guaranteed to not be a wall)
valid_index = None
# Prefer cells that have not been visited
for i, dist in enumerate(adj_distances):
if dist != -1 and adj_visited[i] is '':
self.consecutive_explored_cells = 0
valid_index = i
break
if valid_index is None:
self.consecutive_explored_cells += 1
possible_candidate = None
for i, dist in enumerate(adj_distances):
if dist != -1 and adj_visited[i] is '*':
if possible_candidate is None:
possible_candidate = i
else:
a = adj_distances[possible_candidate]
b = adj_distances[i]
if b > a:
possible_candidate = i
valid_index = possible_candidate
if valid_index is None:
possible_candidate = None
for i, dist in enumerate(adj_distances):
if dist != -1 and adj_visited[i] is 'e':
if possible_candidate is None:
possible_candidate = i
else:
a = adj_distances[possible_candidate]
b = adj_distances[i]
if b > a:
possible_candidate = i
valid_index = possible_candidate
return valid_index
def explore(self, x, y, heading, sensors):
if self.should_end_exploring(x, y) or not self.explore_after_center:
rotation = 'Reset'
movement = 'Reset'
self.exploring = False
self.terrain.set_imaginary_walls_for_unvisited_cells()
self.terrain.update_distances(last_update=True)
else:
# If we reach a dead end:
if self.is_at_a_dead_end(sensors):
rotation, movement = self.deal_with_dead_end(x, y, heading)
else:
valid_index = self.get_valid_index(x, y, heading, sensors, True)
if valid_index is not None:
rotation, movement = self.convert_from_index(valid_index)
else:
rotation, movement = 'Reset', 'Reset'
return rotation, movement
def convert_from_index(self, index):
# Move Left
if index == 0:
rotation = -90
movement = 1
# Move Up
elif index == 1:
rotation = 0
movement = 1
# Move Right
elif index == 2:
rotation = 90
movement = 1
# Minimum distance is behind, so just rotate clockwise
else:
rotation = 90
movement = 0
return rotation, movement
def deal_with_dead_end(self, x, y, heading):
# 1) Move back one step
rotation = 0
movement = -1
# 2) Get reference to cell
cell = self.terrain.grid[x][y]
# 3) Place imaginary wall behind the robot before exiting location
reverse_direction = dir_reverse[heading]
index = self.terrain.get_index_of_wall(reverse_direction)
cell.imaginary_walls[index] = 1
# 4) Change the value of visited to signify dead end
cell.visited = 'x'
cell.distance = WALL_VALUE
# 5) Update imaginary walls and distances
self.terrain.update_imaginary_walls(x, y, cell.imaginary_walls)
return rotation, movement
def should_end_exploring(self, x, y):
"""
The robot should end exploring in all these cases:
- It has already explored more than 90% of the cells
- It has already taken 30 steps (in the exploration phase)
- It has reached the center of the maze (again)
- It has reached the starting location (again)
"""
# Check for % of cells covered
if self.terrain.get_percentage_of_maze_explored() > 80:
return True
if self.consecutive_explored_cells >= 3:
return True
# Check for number of steps
if self.steps_exploring > 15:
return True
# Check for center of the maze:
if self.is_at_center_of_the_maze(x, y):
return True
if self.is_at_starting_position(x, y):
return True
return False
def final_round(self, x, y, heading, sensors):
"""
Returns the correct rotation and maximum numbers of steps that
the robot can take to optimize the score while staying on track
"""
rotation = None
movement = None
current_distance = self.terrain.grid[x][y].distance
adj_distances, adj_visited = \
self.terrain.get_adj_info(
x, y, heading, sensors, False)
# Change sensor info to max allowed moves, when it applies
sensors = [3 if step > 3 else step for step in sensors]
for i, steps in enumerate(sensors):
# If we found a movement, exit and apply it
if movement is not None:
break
# Otherwise, iterate through steps to see if one matches with the
# next correct and logical distance for that number of steps
elif self.is_a_possible_move(adj_distances, adj_visited, i):
for idx in range(steps):
step = steps - idx
rotation = rotations[str(i)]
new_direction = self.get_new_direction(rotation)
furthest_distance = self.terrain.get_distance(
x, y, new_direction, step)
if furthest_distance == current_distance - step:
movement = step
break
return rotation, movement
def is_a_possible_move(self, adj_distances, adj_visited, i):
"""
Distances are valid if they are not walls, unvisited, or dead ends.
"""
return (adj_visited[i] is not ''
and adj_visited[i] is not 'x'
and adj_distances[i] is not WALL_VALUE)
def report_results(self):
distance = self.terrain.grid[0][0].distance
percentage = self.terrain.get_percentage_of_maze_explored()
first_round = self.steps_first_round + self.steps_exploring
final_round = self.steps_final_round
print('ALGORITHM USED: {}'.format(self.algorithm.name.upper()))
print('EXPLORING AFTER CENTER: {}'.format(self.explore_after_center))
print('NUMBER OF MOVES FIRST ROUND: {}'.format(first_round))
print('PERCENTAGE OF MAZE EXPLORED: {}%'.format(percentage))
print('DISTANCE TO CENTER: {}'.format(distance))
print('NUMBER OF MOVES FINAL ROUND: {}'.format(final_round))
print('********************************')