def testAI(filename):
pygame.init()
bigCircle = myItem.Circle((0, 0, 0), (0, 320), 320)
smallCircle = myItem.Circle((255, 255, 255), (0, 320), 160)
car = myItem.car(2, 560, (15, 15))
carAi = myCarAI.carAI()
#load训练好的神经网络
carAi.load(filename)
screen = pygame.display.set_mode((480, 640), 0, 32)
# Clock对象
clock = pygame.time.Clock()
for i in range(5000):
# 手动操作
for event in pygame.event.get():
if event.type == QUIT:
exit()
# AI
# input car.r car.v car.dis-s 7 output speed, direction
# 根据speed和direction控制小车
# 计算移动距离
time_passed = clock.tick()
time_passed_seconds = time_passed / 1000.
car.postion_move(time_passed_seconds)
car.get_dis_to_wall((0, 320), 320, (0, 320), 160)
# 输入神经网络的指标( /30为了防止输入过大)
data = np.array([car.r/30, car.v/30, car.dis_wall/30, car.ldis_wall/30,
car.lldis_wall/30, car.rdis_wall/30, car.rrdis_wall/30])
data = data.T
v, dir = carAi.forward(data)
if v == -1:
car.speed_down()
elif v == 1:
car.speed_up()
if dir == -1:
car.left_move()
elif dir == 1:
car.right_move()
if car.is_goal() == True:
print("goal!")
break
if car.is_live(smallCircle.rp, smallCircle.rr, bigCircle.rp, bigCircle.rr) == False:
print("error")
break
mapPaint(pygame, screen, bigCircle, smallCircle)
pygame.draw.rect(screen, (0, 255, 0), Rect((car.x, car.y), (car.size)))
pygame.draw.line(screen, (255, 255, 0), (car.x + car.size[0] / 2, car.y + car.size[1] / 2),
(car.dis_pos[0], car.dis_pos[1]))
pygame.draw.line(screen, (0, 255, 0), (car.x + car.size[0] / 2, car.y + car.size[1] / 2),
(car.ldis_pos[0], car.ldis_pos[1]))
pygame.draw.line(screen, (0, 255, 0), (car.x + car.size[0] / 2, car.y + car.size[1] / 2),
(car.lldis_pos[0], car.lldis_pos[1]))
pygame.draw.line(screen, (0, 255, 0), (car.x + car.size[0] / 2, car.y + car.size[1] / 2),
(car.rdis_pos[0], car.rdis_pos[1]))
pygame.draw.line(screen, (0, 255, 0), (car.x + car.size[0] / 2, car.y + car.size[1] / 2),
(car.rrdis_pos[0], car.rrdis_pos[1]))
pygame.display.update()
def pick_best_AI(cars, carAis):
bestindex = 0
farDistance = 1000
for i in range(len(cars)):
if cars[i].distance < farDistance:
farDistance = cars[i].distance
bestindex = i
if cars[i].goal == True:
bestindex = i
break
print(cars[bestindex].distance)
bestAI = myCarAI.carAI()
w, b = carAis[bestindex].get_weights()
bestAI.assign_weights(copy.deepcopy(w), copy.deepcopy(b))
return bestAI
def pick_best_AI(cars, carAis):
bestindex = 0
farDistance = 1000
for i in range(len(cars)):
if cars[i].goal == True:
farDistance = cars[i].distance
bestindex = i
print("1")
break
if cars[i].distance < farDistance:
farDistance = cars[i].distance
bestindex = i
print("cur best car distance: ", cars[0].distance)
bestAI = myCarAI.carAI()
w, b = carAis[bestindex].get_weights()
bestAI.assign_weights(w, b)
return bestAI
def gameStart():
pygame.init()
bigCircle = myItem.Circle((0,0,0), (0,320), 320)
smallCircle = myItem.Circle((255, 255, 255), (0,320), 160)
# 生成carnum辆car和carnum个AI
carnum = 100
cars = []
carAis = []
for i in range(carnum):
cars.append(myItem.car(2, 560, (15,15)))
carAis.append(myCarAI.carAI())
# init屏幕
screen = pygame.display.set_mode((480, 640), 0, 32)
# Clock对象，使小车运动更流畅
clock = pygame.time.Clock()
# 训练次数
n_epoches = 60
for k in range(n_epoches):
print("第%d次----------------------"%k)
# 每次的时间为1000
for i in range(1000):
# 手动操作，还未加入
for event in pygame.event.get():
if event.type == QUIT:
exit()
# AI
# input car.r car.v car.dis-s 7 output speed, direction
# 根据speed和direction控制小车
# 计算移动距离
time_passed = clock.tick(); time_passed_seconds = time_passed / 1000.
for i in range(len(cars)):
car = cars[i]
if car.alive == False:
continue
car.get_dis_to_wall((0, 320), 320, (0, 320), 160)
car.postion_move(time_passed_seconds)
carAi = carAis[i]
# 输入神经网络的指标( /30为了防止输入过大)
data = np.array([car.r/30, car.v/30, car.dis_wall/30, car.ldis_wall/30,
car.lldis_wall/30, car.rdis_wall/30, car.rrdis_wall/30])
# if i == 0:
# print(data)
data = data.T
# 控制方向
v,dir = carAi.forward(data)
if v == -1:
car.speed_down()
elif v == 1:
car.speed_up()
if dir == -1:
car.left_move()
elif dir == 1:
car.right_move()
# 到达
if car.is_goal() == True:
print("goal!")
carAi.save("goal_para/goal_{}".format(str(i)))
# 判断is_live
car.is_live(smallCircle.rp, smallCircle.rr, bigCircle.rp, bigCircle.rr)
car.distance = car.y
# update
mapPaint(pygame, screen, bigCircle, smallCircle)
carPaint(pygame, screen,cars)
pygame.display.update()
# 是否结束
flag = 0
for i in range(len(cars)):
car = cars[i]
if car.alive == True:
flag = 1
if flag == 0: break
# 选出最好的一个AI
bestAI = pick_best_AI(cars, carAis)
# 下一轮
cars.clear(); carAis.clear()
for i in range(carnum):
cars.append(myItem.car(2, 560, (15, 15)))
carAis = myCarAI.GeneOptimize.gene_algo(bestAI, carnum)
def gameStart():
pygame.init()
bigCircle = myItem.Circle((0, 0, 0), (0, 320), 320)
smallCircle = myItem.Circle((255, 255, 255), (0, 320), 160)
#生成200辆car和200个AI
cars = []
carAis = []
carnum = 100
for i in range(carnum):
cars.append(myItem.car(2, 560, (15, 15)))
carAis.append(myCarAI.carAI())
screen = pygame.display.set_mode((480, 640), 0, 32)
# Clock对象
clock = pygame.time.Clock()
for k in range(60):
print("第%d次--------------------" % k)
for i in range(1000):
#手动操作
for event in pygame.event.get():
if event.type == QUIT:
exit()
#AI
#input car.r car.v car.dis-s 7 output speed, direction
#根据speed和direction控制小车
#计算移动距离
time_passed = clock.tick()
time_passed_seconds = time_passed / 1000.
for i in range(len(cars)):
car = cars[i]
if car.alive == False:
continue
car.get_dis_to_wall((0, 320), 320, (0, 320), 160)
car.postion_move(time_passed_seconds)
carAi = carAis[i]
data = np.array([
car.r * 3, car.v / 100, car.dis_wall / 300,
car.ldis_wall / 300, car.lldis_wall / 300,
car.rdis_wall / 300, car.rrdis_wall / 300
])
# print(data)
data = data.T
#控制方向
v, dir = carAi.forward(data)
if v == -1:
car.speed_down()
elif v == 1:
car.speed_up()
if dir == -1:
car.left_move()
elif dir == 1:
car.right_move()
if car.is_goal() == True:
print("goal!")
# filename = "goal"+str(i)
# carAi.save(filename)
if car.is_live(smallCircle.rp, smallCircle.rr, bigCircle.rp,
bigCircle.rr) == False:
pass
car.distance = car.y
mapPaint(pygame, screen, bigCircle, smallCircle)
carPaint(pygame, screen, cars)
pygame.display.update()
#是否结束
flag = 0
for i in range(len(cars)):
car = cars[i]
if car.alive == True:
flag = 1
if flag == 0: break
#选出最好的一个AI
bestAI = pick_best_AI(cars, carAis)
cars.clear()
carAis.clear()
for i in range(carnum):
cars.append(myItem.car(2, 560, (15, 15)))
carAis = myCarAI.gene_algo(bestAI, carnum)