def runner(dim=(30, 30),
edgeLen=16,
seed=23,
population=10,
mutRate=0.1,
enablePlot=False):
'''
dim .... dimention of the maze in squares
seed ......... Random seed to start with
mutRate ...... Mutation Rate to use
enablePlot ... Plot result in TK
'''
border = 10
population = 20 # number of bots per generation
mut_rate = 0.1 # mutation rate
enablePlot = True
plotN = 100
maze = None
bot = [RefferenceBot()]
while not bot[0].target_found:
maze = Maze(dimentions=dim)
bot[0].find_path(maze)
maze.set_min_path_lenght(bot[0].path_len)
print("The reference path length is %d" % bot[0].path_len)
m = np.full(dim, 0)
m[2][2] = 3
m[int(dim[0] - 3)][int(dim[1] / 2)] = 2
m[int(dim[0] / 2)][int(dim[1] / 2)] = 1
maze = Maze(matrix=m)
bot[0].find_path(maze)
if enablePlot:
gui = Gui((640, 640))
gui.draw_maze(maze)
try:
bot[0].add_turtle(gui.turtle.clone(), color="blue")
except NameError:
pass
target_count = 0
target_bots = []
np.random.seed(seed)
cor = [1.0, 0.3, 0.1]
for i in range(1, population + 1):
bot.append(DNNBot())
try:
bot[i].add_turtle(gui.turtle.clone(), tuple(cor))
except NameError:
pass
cor[1] += 0.03
cor[0] -= 0.03
dna = [None] * (population + 1)
generation = 1
last_gen = 0
maze_tries = 0
maze_nr = 0
while True:
survivor = []
finisher = []
uniquePath = []
uniquePathBots = []
weights = {}
time_start = time.process_time()
time_cros = 0
for i in range(1, population + 1):
bot[i].find_path(maze)
if bot[i].cost in weights.keys():
weights[bot[i].cost].append(bot[i])
else:
weights[bot[i].cost] = [bot[i]]
if bot[i].target_found:
# target_bots.append(bt[i])
# target_count+=1
survivor.append(i)
finisher.append(i)
# print("Bot %d costs %f, made %d steps and found the goal!" % (i,bot[i].cost,bot[i].path_len-1))
elif bot[i].crashed:
pass
# print("Bot %d costs %f, made %d steps and crshed!" % (i,bot[i].cost,bot[i].path_len-1))
else:
survivor.append(i)
# print("Bot %d costs %f, made %d steps and dit not find the goal!" % (i,bot[i].cost,bot[i].path_len-1))
dna[i] = bot[i].get_dna()
if not uniquePath.count(bot[i].get_path()):
uniquePath.append(bot[i].get_path())
uniquePathBots.append(bot[i])
newMaze = False
newPlot = False
if len(finisher) > population / 2:
maze_tries = 0
if generation > last_gen:
newPlot = enablePlot
last_gen = generation
else:
newPlot = False
if maze_nr < dim[1] / 2 - 3:
maze.add_obstical((int(dim[0] / 4), maze_nr))
maze.add_obstical((int(dim[0] / 4), dim[1] - 1 - maze_nr))
elif maze_nr < 2 * dim[1] / 2 - (3 + 3):
mn = maze_nr - (dim[1] / 2 - 3)
maze.add_obstical((int(dim[0] / 2), mn))
maze.add_obstical((int(dim[0] / 2), dim[1] - 1 - mn))
elif maze_nr < 3 * dim[1] / 2 - (3 + 3 + 2):
mn = maze_nr - (2 * dim[1] / 2 - (3 + 3))
maze.add_obstical((int(dim[0] * 3 / 4), dim[1] / 2 + mn))
maze.add_obstical((int(dim[0] * 3 / 4), dim[1] / 2 - mn))
elif maze_nr < 4 * dim[1] / 2 - (3 + 3 + 2 + 4):
mn = maze_nr - (3 * dim[1] / 2 - (3 + 3 + 2))
maze.add_obstical((int(dim[0] / 2) + mn, dim[1] / 2))
maze.add_obstical((int(dim[0] / 2) - mn, dim[1] / 2))
newMaze = enablePlot
maze_nr += 1
else:
time_pre = time.process_time()
crossover(bot[1:], cros=[9, 3, 1, 1, 1], mutation=0.3)
time_cros = time.process_time() - time_pre
generation += 1
maze_tries += 1
print("Maze %i/ Generation %i: %i bots survived and %i bots finished! " % \
(maze_nr, generation, len(survivor), len(finisher)), \
"(%i uniqu path found;" % (len(uniquePath)),
"Time round: %f, Time crossover: %f)" % (time.process_time()-time_start, time_cros))
# if not maze_tries%plotN or newPlot:
if newPlot:
try:
gui.clean_path(bot)
gui.draw_path(uniquePathBots)
except NameError:
pass
if newMaze:
try:
gui.draw_maze(maze)
except NameError:
pass
if enablePlot:
gui.master.mainloop()
