jasonnor / car-simulator

Autonomous car simulator (based on JavaScript & WebGL) implemented by fuzzy control system, genetic algorithm and particle swarm optimization.

Car Simulator

Car Simulator use the fuzzy control system, genetic algorithm and particle swarm optimization to simulate the movement of the autonomous car on the map. It also support VR device, see here for details.

Input contains the three distance sensors of the car (front, 45 degrees left and right), which can be obtained from the defined motion equation, the position of car and the angle between the car and the horizontal axis. Output is the rotation angle of steering wheel.

The target is to reach the end line without encountering the wall and output the movement trajectory (including the position of each point in time, the sensor value and the rotation angle of steering wheel) as a text file, then display on the graphical interface.

The motion equation of the simulated car is as follows:

Fuzzy Control System

Fuzzy control system use the custom seven fuzzy rules and discrete center of gravity defuzzifier. See here for the details.

Genetic Algorithm

Car Simulator use the real-valued genetic algorithm (GA) to train the radial base function network (RBFN) and the car will control by RBFN. The gene is defined as the three parameters of RBFN (w, m, σ) of mixed dimension vector. The fitness function is the mean variance of the expected output of the data set and the RBFN output in the specific input case. The lowest fitness value is the best RBFN parameter.

The structure of the radial base function network is as follows:

Particle Swarm Optimization

Car Simulator can also use the particle swarm optimization (PSO) to train RBFN. The PSO coordinate is defined as the three parameters of RBFN (w, m, σ) of mixed dimension vector. The fitness function is the mean variance of the expected output of the data set and the RBFN output in the specific input case. The lowest fitness value is the best RBFN parameter.

Getting Started

https://jasonnor.github.io/Car-Simulator/

Car Simulator also support the VR device, please open this page.

1. Status
2. Control button
3. Camera first person / third person switch
4. Rotation angle of steering wheel and moving speed
5. Start the fuzzy control system
6. RBFN parameters setting
7. GA parameters setting
8. PSO parameters setting
9. Save the trajectory and data
10. Operating instructions
11. Graphic interface

Instructions

4-Dimensional Output Data Format

InputA1 InputB1 InputC1 Output1
InputA2 InputB2 InputC2 Output2
...

Where InputA is value of center distance sensor, InputB is value of right distance sensor, InputC is value of left distance sensor and output is rotation angle of steering wheel. The default datasets can be found here.

6-Dimensional Output Data Format

InputA1 InputB1 InputC1 InputD1 InputE1 Output1
InputA2 InputB2 InputC2 InputD1 InputE1 Output2
...

Where InputA is X coordinate of the car, InputB is Y coordinate of the car, InputC is value of center distance sensor, InputD is value of right distance sensor, InputE is value of left distance sensor and output is rotation angle of steering wheel. The default datasets can be found here.

Preview

Reference

• three.js - https://threejs.org/
• FileSaver.js - https://github.com/eligrey/FileSaver.js/
• Materialize - http://materializecss.com/

Contributing

Please feel free to use it if you are interested in fixing issues and contributing directly to the code base.

License

Car Simulator is released under the MIT license. See the LICENSE file for details.

car-simulator's Issues

create a new map

Hey, the simulator is cool and I want to create some new map for research use.
Can I got the meaning of the coordinate[4] and coordinate[5] in the map definition? something like 0,1 or -1 0

var map1 = [
        [-6, -13, 6, -13, 0, 1],
        [-6, -13, -6, 22, -1, 0],
        [-6, 22, 18, 22, 0, 1],
        [18, 22, 18, 50, -1, 0],
        [18, 50, 30, 50, 0, -1],
        [6, -13, 6, 10, 1, 0],
        [6, 10, 30, 10, 0, -1],
        [30, 10, 30, 50, 1, 0]
    ],

The map I try to create, corner is not so good, I think not setting proper data of last two words

var map4 = [
        [-15, -15, 65, -15, 0, 1],
        [-15, -15,-15, 65, -1, 0],
        [-15, 65, 65, 65,0,1],
        [65, 65, 65, -15, -1, 0],
        [0, 0, 0, 20, 0, 0],
        [0, 0, 50, 0, 1, 0],
        [0, 20, 50, 20, 0, -1],
        [50, 0, 50, 20, 1, 0],
        [0, 20, 30, 20, 0, -1],
        [0, 35, 0, 50, 1, 0],
        [0, 35, 50, 35, 0, -1],
        [0, 50, 50, 50, 1, 0],
        [50,50, 50, 35, 0, -1]
  
    ],