def AI_loop():
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
#Set variables
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500,heading)
left45Wall = ai.wallFeeler(500,heading+45)
right45Wall = ai.wallFeeler(500,heading-45)
left90Wall = ai.wallFeeler(500,heading+90)
right90Wall = ai.wallFeeler(500,heading-90)
left135Wall = ai.wallFeeler(500,heading+135)
right135Wall = ai.wallFeeler(500,heading-135)
backWall = ai.wallFeeler(500,heading-180)
trackWall = ai.wallFeeler(500,tracking)
result_list = []
risk_list = []
for i in range(8):
Degree = tracking+(45*i)
Speed = ai.selfSpeed()
Distance = ai.wallFeeler(10000,tracking+(45*i))
result = Closing_Rate(Degree, tracking, Speed, Distance)
result_list.append(result)
### Fuzzy membership ###
closing_rate, distance = Closing_Rate(Degree, tracking, Speed, Distance)
low, medium, fast = Fuzzy_Speed(closing_rate)
close, far = Fuzzy_Distance(distance)
risk = Fuzzy_Risk(low, medium, fast, close, far)
risk_list.append(risk)
## Get the direction in deg that is most risky for the robot ##
max_risk = max(risk_list)
track_risk = (tracking + (risk_list.index(max_risk)*45) % 360)
min_risk = min(risk_list)
####### Shooting Ennemies ########
##Find the closest ennemy##
ClosestID = ai.closestShipId()
#print(ClosestID)
##Get the closest ennemy direction and speed##
ClosestSpeed = ai.enemySpeedId(ClosestID)
ClosestDir = ai.enemyTrackingDegId(ClosestID)
## Get the lockheadingdeg ##
enemy = ai.lockClose()
#print(enemy)
head = ai.lockHeadingDeg()
#print(head)
enemyDist = ai.selfLockDist()
#print(enemyDist, ClosestSpeed, ClosestDir, head)
int1, int2, int3, int4, int5 = Data(enemyDist, ClosestSpeed, ClosestDir, head, heading, tracking)
output = Out(int1, int2, int3, int4, int5)
#print(output)
if(output > 0.5):
addDeg = output * 20
else:
addDeg = (output -0.5) * 20 * -1
## Get the angles on both side between tracking and heading ##
dist = (heading - track_risk) % 360
dist2 = (360 - dist) % 360
## Production system rules based off fuzzy output ##
if(dist <= 130 and dist >= 0 and ai.selfSpeed() > 0 and max_risk >= 75):
ai.turnLeft(1)
#print("turning left")
elif(dist2 <= 130 and dist2 >= 0 and ai.selfSpeed() > 0 and max_risk >= 75):
ai.turnRight(1)
#print("turning right")
elif(ai.selfSpeed() <= 10):
ai.thrust(1)
#print("thrust")
elif(trackWall <= 150):
ai.thrust(1)
#print("thrust")
elif(enemyDist <= 400 and heading > (head) and enemyDist != 0):
ai.turnRight(1)
ai.fireShot()
elif(enemyDist <= 400 and heading < (head) and enemyDist != 0):
ai.turnLeft(1)
ai.fireShot()
elif(enemyDist > 400 and heading > (head + addDeg) and enemyDist != 0):
ai.turnRight(1)
ai.fireShot()
elif(enemyDist > 400 and heading < (head + addDeg) and enemyDist != 0):
ai.turnLeft(1)
ai.fireShot()
else:
#print("chilling")
ai.thrust(0)
ai.fireShot()
def AI_loop():
global count_frame, loop, boolean, score, population_size, chromosome_size, population, mutation_prob, crossover_prob, fitness_list, generation, generation_size, first_time, done_learning
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
## Get A Chromosome in the Population -- Eventually Will go through each individual in the population ##
current_chromosome = population[loop]
## Transform Each Gene insisde A Single Selected Chromosome. 0s & 1s Are Turned Into Intergers For Fuzzy Sets to understand ##
## Each Value obtained is used to calculate the risk of each 45 degree around the agent ##
## Each value has its own "jump" variable which refers to the distance from each possible points/values ##
## The start and end represents the possible start point and end point for each variable and they depend on
## what the variiable is. It is to ensure a viable fuzzy set and fuzzy functions that these restrictions are applied. ##
frontAlert = current_chromosome[0:5]
frontAlertValue = transform(frontAlert, 25)
backAlert = current_chromosome[5:9]
backAlertValue = transform(backAlert, 25)
speedAlert = current_chromosome[9:13] #4 bits
speedAlertValue = transform(speedAlert, 1) #1 jumps per value
EnemyAlert = current_chromosome[13:18] #5 bits
EnemyAlertValue = transform(EnemyAlert, 50) #50 jumps per value
TrackSlowAlert = current_chromosome[18:22] #4 bits
TrackSlowAlertValue = transform(TrackSlowAlert, 25) #25 jumps per value
TrackFastAlert = current_chromosome[22:26] #4 bits
TrackFastAlertValue = transform(TrackFastAlert, 25) #25 jumps per value
BulletAlert = current_chromosome[26:32] #4 bits
BulletAlertValue = transform(BulletAlert, 15) #15 jumps per value
## Get values of variables for Wall Feelers, Head & Tracking ##
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500,heading)
left45Wall = ai.wallFeeler(500,heading+45)
right45Wall = ai.wallFeeler(500,heading-45)
left90Wall = ai.wallFeeler(500,heading+90)
right90Wall = ai.wallFeeler(500,heading-90)
left135Wall = ai.wallFeeler(500,heading+135)
right135Wall = ai.wallFeeler(500,heading-135)
backWall = ai.wallFeeler(500,heading-180)
trackWall = ai.wallFeeler(500,tracking)
####### Getters Variable Regarding Important Information About Enemies ########
##Find the closest ennemy##
enemy = ai.lockClose()
## Get the lockheadingdeg of enemy ##
head = ai.lockHeadingDeg()
## Get the dstance from enemy ##
enemyDist = ai.selfLockDist()
## If the Enemy is Dead ##
if(ai.selfAlive() == 0 and boolean == False):
## Calculate Fitness Current Population ##
score_previous = score
score_current = ai.selfScore()
fitness_value = fitness(population, count_frame, score_previous, score_current)
fitness_list.append(fitness_value)
## If it went through the whole population and ready to move to next generation ##
if((loop+1) == population_size):
## Output the fitness of population to allow user to see if learning is happening ##
print("Generation:", generation)
print("Agent Fitness:")
print(fitness_list)
print("Average Fitness:", statistics.mean(fitness_list))
print("Best Fitness:", max(fitness_list))
## Finding the optimal chromosome to output it in data file ##
string_maxChromosome = ""
for chrom_max in range(chromosome_size):
string_maxChromosome = string_maxChromosome + str(population[fitness_list.index(max(fitness_list))][chrom_max])
## Formatting entire population in a big string to register it in excel file##
string_population = ""
for pop in range(population_size):
for pop_chrom in range(chromosome_size):
string_population = string_population + str(population[pop][pop_chrom])
if(pop != (population_size-1)):
string_population = string_population + ","
## Formatting entire population's fitness in a big string to register it in excel file##
string_fitness = ""
for fit in range(len(fitness_list)):
string_fitness = string_fitness + str(fitness_list[fit])
if(fit != (len(fitness_list)-1)):
string_fitness = string_fitness + ","
## Output Data into Excel File ##
titles = ["Generation", "Average Fitness", "Best Fitness","Population Size", "Chromosome Size", "Crossover Probability", "Mutation Probability", "Best Chromosome", "Entire Population Chromosome", "Entire Population Fitness"]
data = [generation, statistics.mean(fitness_list), max(fitness_list), population_size, chromosome_size, crossover_prob, mutation_prob, string_maxChromosome, string_population, string_fitness]
first_time = Save_Data("Tiger_Training_Data.xls", 0, titles, data, first_time)
## Select Next Generation -- Apply Crossover & Mutation ##
new_population = select(population, fitness_list)
new_population = crossover(new_population, chromosome_size, population_size, crossover_prob)
new_population = mutate(new_population, chromosome_size, mutation_prob)
population = new_population
loop = 0
count_frame = 0
generation += 1
fitness_list.clear()
### DONE -- QUIT ###
if (generation == generation_size):
quitAI()
## Move to the next individual in population ##
else:
loop += 1
count_frame = 0
boolean = True
else:
## The agent is Alive ##
if(ai.selfAlive() == 1):
### Turning Rules ###
if frontWall <= frontAlertValue and (left45Wall < right45Wall) and ai.selfSpeed() > speedAlertValue:
ai.turnRight(1)
elif frontWall <= frontAlertValue and (left45Wall > right45Wall) and ai.selfSpeed() > speedAlertValue:
ai.turnLeft(1)
elif left90Wall <= frontAlertValue and ai.selfSpeed() > speedAlertValue:
ai.turnRight(1)
elif right90Wall <= frontAlertValue and ai.selfSpeed() > speedAlertValue:
ai.turnLeft(1)
### Thrust commands ####
elif ai.selfSpeed() <= speedAlertValue and (frontWall >= frontAlertValue) and (left45Wall >= frontAlertValue) and (right45Wall >= frontAlertValue) and (right90Wall >= frontAlertValue) and (left90Wall >= frontAlertValue) and (left135Wall >= backAlertValue) and (right135Wall >= backAlertValue) and (backWall >= backAlertValue):
ai.thrust(1)
elif trackWall <= TrackFastAlertValue and ai.selfSpeed() >= speedAlertValue:
ai.thrust(1)
elif trackWall <= TrackSlowAlertValue and ai.selfSpeed() <= speedAlertValue:
ai.thrust(1)
elif backWall <= TrackFastAlertValue and ai.selfSpeed() >= speedAlertValue:
ai.thrust(1)
elif backWall <= TrackSlowAlertValue and ai.selfSpeed() <= speedAlertValue:
ai.thrust(1)
elif left135Wall <= TrackFastAlertValue and ai.selfSpeed() >= speedAlertValue:
ai.thrust(1)
elif left135Wall <= TrackSlowAlertValue and ai.selfSpeed() <= speedAlertValue:
ai.thrust(1)
elif right135Wall <= TrackFastAlertValue and ai.selfSpeed() >= speedAlertValue:
ai.thrust(1)
elif right135Wall <= TrackSlowAlertValue and ai.selfSpeed() <= speedAlertValue:
ai.thrust(1)
##### Bullet Avoidance Commands #####
elif ai.shotAlert(0) >= 0 and ai.shotAlert(0) <= BulletAlertValue:
if ai.angleDiff(heading, ai.shotVelDir(0)) > 0 and ai.selfSpeed() <= speedAlertValue:
ai.turnLeft(1)
ai.thrust(1)
elif ai.angleDiff(heading, ai.shotVelDir(0)) < 0 and ai.selfSpeed() <= speedAlertValue:
ai.turnRight(1)
ai.thrust(1)
elif ai.angleDiff(heading, ai.shotVelDir(0)) > 0 and ai.selfSpeed() > speedAlertValue:
ai.turnLeft(1)
else:
ai.turnRight(1)
##### Shooting Ennemy Commands #####
elif enemyDist <= EnemyAlertValue and heading > (head) and ai.selfSpeed() > speedAlertValue:
ai.turnRight(1)
ai.fireShot()
elif enemyDist <= EnemyAlertValue and heading < (head) and ai.selfSpeed() > speedAlertValue:
ai.turnLeft(1)
ai.fireShot()
elif ai.selfSpeed() < speedAlertValue:
ai.thrust(1)
else:
ai.thrust(0)
count_frame += 3
boolean = False
def AI_loop():
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
#Set variables
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
left45Wall = ai.wallFeeler(500, heading + 45)
right45Wall = ai.wallFeeler(500, heading - 45)
left90Wall = ai.wallFeeler(500, heading + 90)
right90Wall = ai.wallFeeler(500, heading - 90)
left135Wall = ai.wallFeeler(500, heading + 135)
right135Wall = ai.wallFeeler(500, heading - 135)
backWall = ai.wallFeeler(500, heading - 180)
trackWall = ai.wallFeeler(500, tracking)
####### Shooting Ennemies ########
##Find the closest ennemy##
ClosestID = ai.closestShipId()
#print(ClosestID)
##Get the closest ennemy direction and speed##
ClosestSpeed = ai.enemySpeedId(ClosestID)
#print(ClosestSpeed)
ClosestDir = ai.enemyTrackingDegId(ClosestID)
#print(ClosestDir)
## Get the lockheadingdeg ##
enemy = ai.lockNext()
print(enemy)
head = ai.lockHeadingDeg()
print(head)
enemyDist = ai.selfLockDist()
print(enemyDist)
### Turning Rules ###
if frontWall <= 200 and (left45Wall < right45Wall):
print("turning right")
ai.turnRight(1)
elif frontWall <= 200 and (left45Wall > right45Wall):
ai.turnLeft(1)
elif left90Wall <= 200:
print("turning right")
ai.turnRight(1)
elif right90Wall <= 200:
print("turning left")
ai.turnLeft(1)
### Thrust commands ####
elif ai.selfSpeed() <= 10 and (frontWall >= 200) and (
left45Wall >= 200) and (right45Wall >= 200) and (
right90Wall >= 200) and (left90Wall >= 200) and (
left135Wall >= 50) and (right135Wall >= 50) and (backWall
>= 50):
print("go forward")
ai.thrust(1)
elif trackWall < 75 and ai.selfSpeed() >= 10:
ai.thrust(1)
elif trackWall < 50 and ai.selfSpeed() <= 10:
ai.thrust(1)
elif backWall <= 75:
ai.thrust(1)
elif left135Wall <= 75:
ai.thrust(1)
elif right135Wall <= 75:
ai.thrust(1)
##### Shooting Ennemy Commands #####
elif enemyDist <= 500 and heading > (head):
ai.turnRight(1)
ai.fireShot()
elif enemyDist <= 500 and heading < (head):
ai.turnLeft(1)
ai.fireShot()
else:
print("chilling")
ai.thrust(0)
def AI_loop():
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
## Get values of variables for Wall Feelers, Head & Tracking ##
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
left45Wall = ai.wallFeeler(500, heading + 45)
right45Wall = ai.wallFeeler(500, heading - 45)
left90Wall = ai.wallFeeler(500, heading + 90)
right90Wall = ai.wallFeeler(500, heading - 90)
left135Wall = ai.wallFeeler(500, heading + 135)
right135Wall = ai.wallFeeler(500, heading - 135)
backWall = ai.wallFeeler(500, heading - 180)
trackWall = ai.wallFeeler(500, tracking)
####### Getters Variable Regarding Important Information About Enemies ########
##Find the closest ennemy##
enemy = ai.lockClose()
## Get the lockheadingdeg of enemy ##
head = ai.lockHeadingDeg()
## Get the dstance from enemy ##
enemyDist = ai.selfLockDist()
##### Production System Rules ######
### Turning Rules ###
if frontWall <= frontAlertValue and (
left45Wall < right45Wall) and ai.selfSpeed() > speedAlertValue:
ai.turnRight(1)
elif frontWall <= frontAlertValue and (
left45Wall > right45Wall) and ai.selfSpeed() > speedAlertValue:
ai.turnLeft(1)
elif left90Wall <= frontAlertValue and ai.selfSpeed() > speedAlertValue:
ai.turnRight(1)
elif right90Wall <= frontAlertValue and ai.selfSpeed() > speedAlertValue:
ai.turnLeft(1)
### Thrust commands ####
elif ai.selfSpeed() <= speedAlertValue and (
frontWall >=
frontAlertValue) and (left45Wall >= frontAlertValue) and (
right45Wall >=
frontAlertValue) and (right90Wall >= frontAlertValue) and (
left90Wall >=
frontAlertValue) and (left135Wall >= backAlertValue) and (
right135Wall >= backAlertValue) and (backWall >=
backAlertValue):
ai.thrust(1)
elif trackWall <= TrackFastAlertValue and ai.selfSpeed(
) >= speedAlertValue:
ai.thrust(1)
elif trackWall <= TrackSlowAlertValue and ai.selfSpeed(
) <= speedAlertValue:
ai.thrust(1)
elif backWall <= TrackFastAlertValue and ai.selfSpeed() >= speedAlertValue:
ai.thrust(1)
elif backWall <= TrackSlowAlertValue and ai.selfSpeed() <= speedAlertValue:
ai.thrust(1)
elif left135Wall <= TrackFastAlertValue and ai.selfSpeed(
) >= speedAlertValue:
ai.thrust(1)
elif left135Wall <= TrackSlowAlertValue and ai.selfSpeed(
) <= speedAlertValue:
ai.thrust(1)
elif right135Wall <= TrackFastAlertValue and ai.selfSpeed(
) >= speedAlertValue:
ai.thrust(1)
elif right135Wall <= TrackSlowAlertValue and ai.selfSpeed(
) <= speedAlertValue:
ai.thrust(1)
##### Bullet Avoidance Commands #####
elif ai.shotAlert(0) >= 0 and ai.shotAlert(0) <= BulletAlertValue:
if ai.angleDiff(
heading,
ai.shotVelDir(0)) > 0 and ai.selfSpeed() <= speedAlertValue:
ai.turnLeft(1)
ai.thrust(1)
elif ai.angleDiff(
heading,
ai.shotVelDir(0)) < 0 and ai.selfSpeed() <= speedAlertValue:
ai.turnRight(1)
ai.thrust(1)
elif ai.angleDiff(
heading,
ai.shotVelDir(0)) > 0 and ai.selfSpeed() > speedAlertValue:
ai.turnLeft(1)
else:
ai.turnRight(1)
##### Shooting Ennemy Commands #####
elif enemyDist <= EnemyAlertValue and heading > (
head) and ai.selfSpeed() > speedAlertValue:
ai.turnRight(1)
ai.fireShot()
elif enemyDist <= EnemyAlertValue and heading < (
head) and ai.selfSpeed() > speedAlertValue:
ai.turnLeft(1)
ai.fireShot()
elif ai.selfSpeed() < speedAlertValue:
ai.thrust(1)
else:
ai.thrust(0)
def AI_loop():
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
#Set variables for Wall feelers, heading and tracking of the agent ##
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
left45Wall = ai.wallFeeler(500, heading + 45)
right45Wall = ai.wallFeeler(500, heading - 45)
left90Wall = ai.wallFeeler(500, heading + 90)
right90Wall = ai.wallFeeler(500, heading - 90)
left135Wall = ai.wallFeeler(500, heading + 135)
right135Wall = ai.wallFeeler(500, heading - 135)
backWall = ai.wallFeeler(500, heading - 180)
trackWall = ai.wallFeeler(500, tracking)
## Create an array that represents the closing rate of each 45 degree of the full 360 degrees surrounding the agent ##
result_list = []
## Array of the same size, but contains the risk of each direction ##
risk_list = []
for i in range(8):
Degree = tracking + (45 * i)
Speed = ai.selfSpeed()
Distance = ai.wallFeeler(10000, tracking + (45 * i))
result = Closing_Rate(Degree, tracking, Speed, Distance)
result_list.append(result)
### Calculate the Fuzzy membership ###
### 1. Fuzzy Membership For Closing Rate (Speed + Tracking Involved) ###
### 2. Fuzzy Membership For Distance From Walls ###
closing_rate, distance = Closing_Rate(Degree, tracking, Speed,
Distance)
low, medium, fast = Fuzzy_Speed(
closing_rate, closingRate_SlowTopAlertValue,
closingRate_SlowBottomAlertValue,
closingRate_MediumBottomLeftAlertValue,
closingRate_MediumTopLeftAlertValue,
closingRate_MediumTopRightAlertValue,
closingRate_MediumBottomRightAlertValue,
closingRate_FastBottomAlertValue, closingRate_FastTopAlertValue)
close, far = Fuzzy_Distance(distance, Distance_CloseTopAlertValue,
Distance_CloseBottomAlertValue,
Distance_FarBottomAlertValue,
Distance_FarTopAlertValue)
#print("close-far", close, far)
risk = Fuzzy_Risk(low, medium, fast, close, far)
risk_list.append(risk)
## Get the direction in deg that is most risky for the robot as well as the least risky direction ##
max_risk = max(risk_list)
track_risk = (tracking + (risk_list.index(max_risk) * 45) % 360)
min_risk = min(
risk_list
) ## Note: Biase Towards Left Side since min get the first min when risk might be equal ##
####### Getters Variable Regarding Important Information About Enemies ########
##Find the closest ennemy##
enemy = ai.lockClose()
## Get the lockheadingdeg of enemy ##
head = ai.lockHeadingDeg()
## Get the dstance from enemy ##
enemyDist = ai.selfLockDist()
## Get the angles on both side between tracking and heading to decide which way to turn ##
dist = (heading - track_risk) % 360
dist2 = (360 - dist) % 360
###### Production System Rules ######
## Turning Rules ##
if (dist <= 130 and dist >= 0 and ai.selfSpeed() > 0 and max_risk >= 75):
ai.turnLeft(1)
elif (dist2 <= 130 and dist2 >= 0 and ai.selfSpeed() > 0
and max_risk >= 75):
ai.turnRight(1)
elif (trackWall <= 150):
ai.thrust(1)
##### Bullet Avoidance Commands #####
elif (ai.shotAlert(0) >= 0 and ai.shotAlert(0) <= 50):
if (ai.shotVelDir(0) != -1
and ai.angleDiff(heading, ai.shotVelDir(0)) > 0
and ai.selfSpeed() <= 5):
ai.turnLeft(1)
ai.thrust(1)
elif (ai.shotVelDir(0) != -1
and ai.angleDiff(heading, ai.shotVelDir(0)) < 0
and ai.selfSpeed() <= 5):
ai.turnRight(1)
ai.thrust(1)
elif (ai.shotVelDir(0) != -1
and ai.angleDiff(heading, ai.shotVelDir(0)) > 0
and ai.selfSpeed() > 5):
ai.turnLeft(1)
else:
ai.turnRight(1)
##### Shooting Ennemy Commands #####
elif (enemyDist <= 3000 and heading > (head) and enemyDist != 0
and ai.selfSpeed() > 2):
ai.turnRight(1)
ai.fireShot()
elif (enemyDist <= 3000 and heading < (head) and enemyDist != 0
and ai.selfSpeed() > 2):
ai.turnLeft(1)
ai.fireShot()
## Rules if nothing is happening ##
elif (ai.selfSpeed() < 5):
ai.thrust(1)
else:
ai.thrust(0)
def AI_loop():
global count_frame, loop, boolean, score, population_size, chromosome_size, population, mutation_prob, crossover_prob, fitness_list, generation, generation_size, first_time, done_learning
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
## Get A Chromosome in the Population -- Eventually Will go through each individual in the population ##
current_chromosome = population[loop]
## Transform Each Gene insisde A Single Selected Chromosome. 0s & 1s Are Turned Into Intergers For Fuzzy Sets to understand ##
## Each Value obtained is used to calculate the risk of each 45 degree around the agent ##
## Each value has its own "jump" variable which refers to the distance from each possible points/values ##
## The start and end represents the possible start point and end point for each variable and they depend on
## what the variiable is. It is to ensure a viable fuzzy set and fuzzy functions that these restrictions are applied. ##
closingRate_SlowTopAlert = current_chromosome[0:4]
closingRate_SlowTopAlertValue = transform_fuzzy(closingRate_SlowTopAlert,
1, 0, 16)
closingRate_MediumTopLeftAlert = current_chromosome[4:8]
closingRate_MediumTopLeftAlertValue = transform_fuzzy(
closingRate_MediumTopLeftAlert, 1, (closingRate_SlowTopAlertValue + 1),
(closingRate_SlowTopAlertValue + 1) + 16)
closingRate_MediumTopRightAlert = current_chromosome[8:12]
closingRate_MediumTopRightAlertValue = transform_fuzzy(
closingRate_MediumTopRightAlert, 1,
(closingRate_MediumTopLeftAlertValue + 1),
(closingRate_MediumTopLeftAlertValue + 1) + 16)
closingRate_FastTopAlert = current_chromosome[12:16]
closingRate_FastTopAlertValue = transform_fuzzy(
closingRate_FastTopAlert, 1,
(closingRate_MediumTopRightAlertValue + 1),
(closingRate_MediumTopRightAlertValue + 1) + 16)
closingRate_SlowBottomAlert = current_chromosome[16:20]
start = (closingRate_SlowTopAlertValue +
(((closingRate_MediumTopLeftAlertValue -
closingRate_SlowTopAlertValue) // 2) + 1))
end = (start + (1 * (2**(len(closingRate_SlowBottomAlert)))))
closingRate_SlowBottomAlertValue = transform_fuzzy(
closingRate_SlowBottomAlert, 1, start, end)
closingRate_MediumBottomLeftAlert = current_chromosome[20:24]
end = (closingRate_MediumTopLeftAlertValue -
(((closingRate_MediumTopLeftAlertValue -
closingRate_SlowTopAlertValue) // 2) + 1))
start = end - (1 * (2**(len(closingRate_MediumBottomLeftAlert))))
if (end < 0):
end = 0
if (start < 0):
start = 0
jump = (end - start) // (2**(len(closingRate_MediumBottomLeftAlert)))
closingRate_MediumBottomLeftAlertValue = transform_fuzzy(
closingRate_MediumBottomLeftAlert, jump, start, end)
closingRate_MediumBottomRightAlert = current_chromosome[24:28]
start = (closingRate_MediumTopRightAlertValue +
(((closingRate_FastTopAlertValue -
closingRate_MediumTopRightAlertValue) // 2) + 1))
end = start + (1 * (2**(len(closingRate_MediumBottomRightAlert))))
closingRate_MediumBottomRightAlertValue = transform_fuzzy(
closingRate_MediumBottomRightAlert, 1, start, end)
closingRate_FastBottomAlert = current_chromosome[28:32]
end = (closingRate_FastTopAlertValue -
(((closingRate_FastTopAlertValue -
closingRate_MediumTopRightAlertValue) // 2) + 1))
start = end - (1 * (2**(len(closingRate_FastBottomAlert))))
if (end < 0):
end = 0
if (start < 0):
start = 0
jump = (end - start) // (2**(len(closingRate_FastBottomAlert)))
closingRate_FastBottomAlertValue = transform_fuzzy(
closingRate_FastBottomAlert, jump, start, end)
Distance_CloseTopAlert = current_chromosome[32:37]
Distance_CloseTopAlertValue = transform_fuzzy(
Distance_CloseTopAlert, 50, 0, (50 * (2**len(Distance_CloseTopAlert))))
Distance_FarTopAlert = current_chromosome[37:42]
Distance_FarTopAlertValue = transform_fuzzy(
Distance_CloseTopAlert, 50, (Distance_CloseTopAlertValue + 50),
(Distance_CloseTopAlertValue + 50) +
(50 * (2**len(Distance_CloseTopAlert))))
Distance_CloseBottomAlert = current_chromosome[42:47]
start = (Distance_CloseTopAlertValue + ((
(Distance_FarTopAlertValue - Distance_CloseTopAlertValue) // 2) + 1))
end = Distance_FarTopAlertValue
jump = (end - start) // (2**(len(Distance_CloseBottomAlert)))
Distance_CloseBottomAlertValue = transform_fuzzy(Distance_CloseBottomAlert,
jump, start, end)
Distance_FarBottomAlert = current_chromosome[47:52]
end = (Distance_FarTopAlertValue - ((
(Distance_FarTopAlertValue - Distance_CloseTopAlertValue) // 2) + 1))
start = Distance_CloseTopAlertValue
jump = (end - start) // (2**(len(Distance_FarBottomAlert)))
Distance_FarBottomAlertValue = transform_fuzzy(Distance_FarBottomAlert,
jump, start, end)
#Set variables for Wall feelers, heading and tracking of the agent ##
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
left45Wall = ai.wallFeeler(500, heading + 45)
right45Wall = ai.wallFeeler(500, heading - 45)
left90Wall = ai.wallFeeler(500, heading + 90)
right90Wall = ai.wallFeeler(500, heading - 90)
left135Wall = ai.wallFeeler(500, heading + 135)
right135Wall = ai.wallFeeler(500, heading - 135)
backWall = ai.wallFeeler(500, heading - 180)
trackWall = ai.wallFeeler(500, tracking)
## Create an array that represents the closing rate of each 45 degree of the full 360 degrees surrounding the agent ##
result_list = []
## Array of the same size, but contains the risk of each direction ##
risk_list = []
for i in range(8):
Degree = tracking + (45 * i)
Speed = ai.selfSpeed()
Distance = ai.wallFeeler(10000, tracking + (45 * i))
result = Closing_Rate(Degree, tracking, Speed, Distance)
result_list.append(result)
### Calculate the Fuzzy membership ###
### 1. Fuzzy Membership For Closing Rate (Speed + Tracking Involved) ###
### 2. Fuzzy Membership For Distance From Walls ###
closing_rate, distance = Closing_Rate(Degree, tracking, Speed,
Distance)
low, medium, fast = Fuzzy_Speed(
closing_rate, closingRate_SlowTopAlertValue,
closingRate_SlowBottomAlertValue,
closingRate_MediumBottomLeftAlertValue,
closingRate_MediumTopLeftAlertValue,
closingRate_MediumTopRightAlertValue,
closingRate_MediumBottomRightAlertValue,
closingRate_FastBottomAlertValue, closingRate_FastTopAlertValue)
close, far = Fuzzy_Distance(distance, Distance_CloseTopAlertValue,
Distance_CloseBottomAlertValue,
Distance_FarBottomAlertValue,
Distance_FarTopAlertValue)
#print("close-far", close, far)
risk = Fuzzy_Risk(low, medium, fast, close, far)
risk_list.append(risk)
## Get the direction in deg that is most risky for the robot as well as the least risky direction ##
max_risk = max(risk_list)
track_risk = (tracking + (risk_list.index(max_risk) * 45) % 360)
min_risk = min(
risk_list
) ## Note: Biase Towards Left Side since min get the first min when risk might be equal ##
####### Getters Variable Regarding Important Information About Enemies ########
##Find the closest ennemy##
enemy = ai.lockClose()
## Get the lockheadingdeg of enemy ##
head = ai.lockHeadingDeg()
## Get the dstance from enemy ##
enemyDist = ai.selfLockDist()
## If the Enemy is Dead ##
if (ai.selfAlive() == 0 and boolean == False):
## Calculate Fitness Current Individual ##
score_previous = score
score_current = ai.selfScore()
fitness_value = fitness(population, count_frame, score_previous,
score_current)
fitness_list.append(fitness_value)
## If it went through the whole population and ready to move to next generation ##
if ((loop + 1) == population_size):
## Output the fitness of population to allow user to see if learning is happening ##
print("Generation:", generation)
print("Agent Fitness:")
print(fitness_list)
print("Average Fitness:", statistics.mean(fitness_list))
print("Best Fitness:", max(fitness_list))
## Finding the optimal chromosome to output it in data file ##
string_maxChromosome = ""
for chrom_max in range(chromosome_size):
string_maxChromosome = string_maxChromosome + str(
population[fitness_list.index(
max(fitness_list))][chrom_max])
## Formatting entire population in a big string to register it in excel file##
string_population = ""
for pop in range(population_size):
for pop_chrom in range(chromosome_size):
string_population = string_population + str(
population[pop][pop_chrom])
if (pop != (population_size - 1)):
string_population = string_population + ","
## Formatting entire population's fitness in a big string to register it in excel file##
string_fitness = ""
for fit in range(len(fitness_list)):
string_fitness = string_fitness + str(fitness_list[fit])
if (fit != (len(fitness_list) - 1)):
string_fitness = string_fitness + ","
## Output Data into Excel File ##
titles = [
"Generation", "Average Fitness", "Best Fitness",
"Population Size", "Chromosome Size", "Crossover Probability",
"Mutation Probability", "Best Chromosome",
"Entire Population Chromosome", "Entire Population Fitness"
]
data = [
generation,
statistics.mean(fitness_list),
max(fitness_list), population_size, chromosome_size,
crossover_prob, mutation_prob, string_maxChromosome,
string_population, string_fitness
]
first_time = Save_Data("Dumpster_Training_Data.xls", 0, titles,
data, first_time)
## Select Population For Next Generation -- Apply Crossover & Mutation ##
new_population = select(population, fitness_list)
new_population = crossover(new_population, chromosome_size,
population_size, crossover_prob)
new_population = mutate(new_population, chromosome_size,
mutation_prob)
population = new_population
loop = 0
count_frame = 0
generation += 1
fitness_list.clear()
### DONE -- QUIT ###
if (generation == generation_size):
quitAI()
## Move to the next individual in population ##
else:
loop += 1
count_frame = 0
boolean = True
else:
## The agent is Alive ##
if (ai.selfAlive() == 1):
## Get the angles on both side between tracking and heading to decide which way to turn ##
dist = (heading - track_risk) % 360
dist2 = (360 - dist) % 360
###### Production System Rules ######
## Turning Rules ##
if (dist <= 130 and dist >= 0 and ai.selfSpeed() > 0
and max_risk >= 75):
ai.turnLeft(1)
elif (dist2 <= 130 and dist2 >= 0 and ai.selfSpeed() > 0
and max_risk >= 75):
ai.turnRight(1)
elif (ai.selfSpeed() <= 10):
ai.thrust(1)
elif (trackWall <= 150):
ai.thrust(1)
##### Bullet Avoidance Commands #####
elif (ai.shotAlert(0) >= 0 and ai.shotAlert(0) <= 50):
if (ai.shotVelDir(0) != -1
and ai.angleDiff(heading, ai.shotVelDir(0)) > 0
and ai.selfSpeed() <= 5):
ai.turnLeft(1)
ai.thrust(1)
elif (ai.shotVelDir(0) != -1
and ai.angleDiff(heading, ai.shotVelDir(0)) < 0
and ai.selfSpeed() <= 5):
ai.turnRight(1)
ai.thrust(1)
elif (ai.shotVelDir(0) != -1
and ai.angleDiff(heading, ai.shotVelDir(0)) > 0
and ai.selfSpeed() > 5):
ai.turnLeft(1)
else:
ai.turnRight(1)
##### Shooting Ennemy Commands #####
elif (enemyDist <= 3000 and heading > (head) and enemyDist != 0
and ai.selfSpeed() > 5):
ai.turnRight(1)
ai.fireShot()
elif (enemyDist <= 3000 and heading < (head) and enemyDist != 0
and ai.selfSpeed() > 5):
ai.turnLeft(1)
ai.fireShot()
## Rules if nothing is happening ##
elif (ai.selfSpeed() < 5):
ai.thrust(1)
else:
ai.thrust(0)
count_frame += 3
boolean = False