self driving | JavaScript 程式專案

{"id":48722,"student_id":10,"content":"var SIZE = 60;\nvar count = 0;\n\nfor (var i = 0; i \u003c SIZE; i++) {\n    let car = new Car();\n    car.reset(200, 50, 90);\n    car.score = 0;\n    car.gens = randomDNA(32);\n    car.status = 'running';\n    car.xx = car.x;\n    car.yy = car.y;\n\n    forever(function(){\n\n        if (car.status != 'running') return;\n\n        var outputs = NN([\n            car.sensorsData[0],\n            car.sensorsData[1],\n            car.sensorsData[2],\n            car.sensorsData[3],\n            car.sensorsData[4],\n            car.speed\n        ], car.gens);\n        \n        car.turn(outputs[0]*30);\n        car.speedUp(outputs[1]*30);\n        \n        car.score += car.speed*car.speed;\n    });\n}\n\nforever(function(){\n    count++;\n    print(count)\n    if (count == 1000 || count == 2000 || count == 3000 || count == 4000) {\n        for (var i=0; i\u003ccars.length; i++) {\n            var x = cars[i].xx - cars[i].x;\n            var y = cars[i].yy - cars[i].y;\n            if (x \u003c 50 \u0026\u0026 y \u003c 50) cars[i].score -= 10000;\n            cars[i].xx = cars[i].x;\n            cars[i].yy = cars[i].y;\n            \n        }\n    }\n    if (count \u003e= 5000) {\n        for (var i=0; i\u003ccars.length; i++) {\n            cars[i].status = 'borken'\n        }\n    }\n    \n    for (var i=0; i\u003ccars.length; i++) {\n        if (cars[i].status == 'running') return;\n    }\n    count = 0;\n    \n    console.log('next generation')\n    \n    cars.sort(function (a, b) {\n        return a.score - b.score; \n    });\n    \n    let newGens = [];\n    \n    for (let i=0; i\u003cSIZE - 0; i++) {\n        let rand1 = Math.floor(Math.sqrt(Math.random() * SIZE*SIZE));\n        let rand2 = Math.floor(Math.sqrt(Math.random() * SIZE*SIZE));\n        let newDNA = crossover(cars[rand1].gens, cars[rand2].gens);\n        newGens.push(newDNA);\n    }\n    \n    // newGens.push(cars[SIZE - 1].gens);\n    // newGens.push(cars[SIZE - 2].gens);\n    // newGens.push(cars[SIZE - 3].gens);\n    // newGens.push(cars[SIZE - 4].gens);\n    // newGens.push(cars[SIZE - 5].gens);\n    // newGens.push(randomDNA(32));\n    // newGens.push(randomDNA(32));\n    // newGens.push(randomDNA(32));\n    // newGens.push(randomDNA(32));\n    // newGens.push(randomDNA(32));\n    \n    for (var i=0; i\u003ccars.length; i++) {\n        cars[i].gens = newGens[i];\n        cars[i].reset(200, 50, 90)\n        cars[i].score = 0;\n    }\n});\n\nfunction crossover(a, b) {\n    let dna = [];\n    for (let i = 0; i \u003c a.length; i++) {\n        dna[i] = Math.random() \u003e 0.5 ? a[i] : b[i];\n        if (Math.random() \u003c 0.04) dna[i] = Math.random() * 0.2 - 0.1; // mutation\n    }\n    return dna;\n}\n\n\nfunction randomDNA(length) {\n    let dna = [];\n    dna.fitness = 0;\n    for (let i = 0; i \u003c length; i++) dna.push(Math.random() * 0.2 - 0.1);\n    return dna;\n}\n\n\nfunction sigmoid(x) {\n    return (Math.exp(x) - Math.exp(-x)) / (Math.exp(x) + Math.exp(-x));\n}\n\n// input*6 hidden*4 output*2\nfunction NN(inputs, weights) {\n    let w = weights;\n    let i = inputs;\n    let a = i[0]*w[0]  + i[1]*w[1]  + i[2] *w[2]  + i[3]*w[3]  + i[4]*w[4]  + i[5]*w[5];\n    let b = i[0]*w[6]  + i[1]*w[7]  + i[2] *w[8]  + i[3]*w[9]  + i[4]*w[10] + i[5]*w[11];\n    let c = i[0]*w[12] + i[1]*w[13] + i[2] *w[14] + i[3]*w[15] + i[4]*w[16] + i[5]*w[17];\n    let d = i[0]*w[18] + i[1]*w[19] + i[2] *w[20] + i[3]*w[21] + i[4]*w[22] + i[5]*w[23];\n\n    a = sigmoid(a);\n    b = sigmoid(b);\n    c = sigmoid(c);\n    d = sigmoid(d);\n\n    let e = a*w[24] + b*w[25] + c*w[26] +d*w[27];\n    let f = a*w[28] + b*w[29] + c*w[30] +d*w[31];\n\n    e = sigmoid(e);\n    f = sigmoid(f);\n    return [e, f];\n}","created_at":"2018-11-14T17:52:43.864+08:00","updated_at":"2022-11-03T17:37:23.121+08:00","name":"self driving","language":"javascript","screenshot":{"url":"https://cdn5.koding.school/uploads/project/screenshot/48722/272a3e997ab093ffd9429c2803b975d7.jpg"},"parent_id":2,"plugin":"let lines = [];\n\nforever(function(){\n    lines.forEach(L =\u003e L.render());\n})\n\nfunction Point (x, y) {\n    this.x = x || 0;\n    this.y = y || 0;\n}\n\n\nfunction Line (p1, p2, size, color) {\n\n    this.p1 = p1;\n    this.p2 = p2;\n    this.size = size || 1;\n    this.color = color || 'black';\n    this.a = 0;\n    this.b = 0;\n    \n    // y = ax + b;\n    // a 斜率\n    // b 常數\n    this.update = function () {\n        this.a = (this.p1.y - this.p2.y) / (this.p1.x - this.p2.x);\n        \n        // 這招真的很無恥，斜率 1000 的肉眼無法看出是否垂直\n        // 在計算交會點的時候就很方便，不用再判斷是否為垂直線\n        if (Math.abs(this.a) === Infinity) this.a = 1000;\n        \n        this.b = this.p1.y - this.p1.x*this.a;\n    }\n    this.update();\n    let self = this;\n    \n    forever(function(){\n        self.update();\n    })\n\n    this.touched = function (line) {\n        \n        if (line.calc(this.p1.x, this.p1.y) * line.calc(this.p2.x, this.p2.y) \u003e 0) return false;\n        if (this.calc(line.p1.x, line.p1.y) * this.calc(line.p2.x, line.p2.y) \u003e 0) return false;\n        \n        let x = (line.b - this.b)/(this.a - line.a);\n        let y = this.a*x + this.b;\n        return {x: x, y: y};\n    }\n\n    this.calc = function (x, y) {\n        if (Math.abs(this.a) == Infinity) return x - this.b;\n        return this.a*x + this.b - y;\n    }\n\n    this.render = function () {\n        pen.size = this.size;\n        pen.color = this.color;\n        pen.drawLine(this.p1.x, this.p1.y, this.p2.x, this.p2.y);\n    }\n\n    lines.push(this);\n}\n\n\nvar walls = []; // 存放賽道線條\nvar cars = []; // 存放所有製造出來的車子\n\n\nfunction Car (x, y) {\n    \n    let width = 15; // 車體中心到四個角的距離\n    let sensorLength = 1000; // 感測器的長度距離\n    let friction = 0; // 摩擦力\n\n    let center = createSprite('dot.jpg');\n    center.x = x || 320;\n    center.y = y || 240;\n    center.speed = 0;\n    center.status = 'pause'; // pause, running, broken\n\n    let p1 = new Point();\n    let p2 = new Point();\n    let p3 = new Point();\n    let p4 = new Point();\n    center.corner = [p1, p2, p3, p4];\n    \n    let a = center.a = new Point();\n    let b = center.b = new Point();\n    let c = center.c = new Point();\n    let d = center.d = new Point();\n    let e = center.e = new Point();\n    center.censorPoints = [a, b, c, d, e];\n    \n    center.sensors = [\n        new Line(center, a, 0, '#00000000'),\n        new Line(center, b, 0, '#00000000'),\n        new Line(center, c, 0, '#00000000'),\n        new Line(center, d, 0, '#00000000'),\n        new Line(center, e, 0, '#00000000'),\n    ]\n    \n    center.sensorsData = [0, 0, 0, 0, 0];\n    \n    center.sensors.forEach((s) =\u003e s.length = Infinity);\n\n    center.border = [\n        new Line(p1, p2, 2),\n        new Line(p2, p3, 2),\n        new Line(p3, p4, 2),\n        new Line(p4, p1, 2),\n    ];\n    \n    center.updateLines = function () {\n        for (var i=0; i\u003c4; i++) {\n            this.border[i].update();\n        }\n        for (var i=0; i\u003c5; i++) {\n            this.sensors[i].update();\n        }\n    }\n    \n    center.update = function () {\n        \n        var self = this;\n        this.border.forEach((line) =\u003e {\n           if (self.status == 'broken') line.color = 'gray';\n           else line.color = 'black';\n        });\n        \n        // 更新車體的四個點座標\n        var offset = [30, 150, -150, -30];\n        for (var i=0; i\u003c4; i++) {\n            this.direction += offset[i];\n            this.stepForward(width);\n            this.corner[i].x = this.x;\n            this.corner[i].y = this.y;\n            this.stepForward(-width);\n            this.direction -= offset[i];\n        }\n        \n        // 更新感測器的線\n        var offset = [-45, -22.5, 0, 22.5, 45];\n        for (var i=0; i\u003c5; i++) {\n            center.direction += offset[i];\n            center.stepForward(sensorLength);\n            center.censorPoints[i].x = center.x;\n            center.censorPoints[i].y = center.y;\n            center.stepForward(-sensorLength);\n            center.direction -= offset[i];\n        }\n        \n        this.updateLines();\n    };\n    \n    center.turn = function (direction) {\n        if (this.status == 'broken') return;\n        this.direction += direction;\n    }\n    \n    center.speedUp = function (speed) {\n        if (speed \u003e 0.1) speed =0.1; \n        if (speed \u003c -0.1) speed = -0.1; \n        this.speed += speed;\n        this.speed -= friction;\n        if (this.speed \u003c 1) this.speed = 1;\n        if (this.speed \u003c 0) this.speed = 0;\n    }\n    \n    center.reset = function (x, y, direction) {\n        this.x = x;\n        this.y = y;\n        this.direction = direction;\n        this.speed = 0;\n        this.update();\n        this.status = 'running';\n    }\n    \n    forever(function () {\n        if (center.status == 'running') {\n            center.stepForward(center.speed); \n        }\n        \n        center.update();\n    });\n    center.update();\n    \n    cars.push(center);\n    return center;\n}\n\n\n\nlet outer = [\n    {\"x\":114,\"y\":14},{\"x\":60,\"y\":17},{\"x\":18,\"y\":66},{\"x\":16,\"y\":136},\n    {\"x\":17,\"y\":303},{\"x\":22,\"y\":446},{\"x\":57,\"y\":463},{\"x\":148,\"y\":458},\n    {\"x\":216,\"y\":429},{\"x\":231,\"y\":354},{\"x\":234,\"y\":256},{\"x\":256,\"y\":220},\n    {\"x\":311,\"y\":211},{\"x\":372,\"y\":228},{\"x\":374,\"y\":282},{\"x\":383,\"y\":357},\n    {\"x\":376,\"y\":421},{\"x\":417,\"y\":458},{\"x\":559,\"y\":460},{\"x\":607,\"y\":432},\n    {\"x\":617,\"y\":384},{\"x\":621,\"y\":285},{\"x\":617,\"y\":161},{\"x\":603,\"y\":70},\n    {\"x\":552,\"y\":22},{\"x\":433,\"y\":9},{\"x\":323,\"y\":12},{\"x\":196,\"y\":11},{\"x\":114,\"y\":14}\n]\nlet inner =[  \n    {\"x\":92,\"y\":76},{\"x\":73,\"y\":146},{\"x\":73,\"y\":220},{\"x\":72,\"y\":304},\n    {\"x\":80,\"y\":381},{\"x\":116,\"y\":381},{\"x\":150,\"y\":350},{\"x\":167,\"y\":297},\n    {\"x\":172,\"y\":229},{\"x\":178,\"y\":180},{\"x\":215,\"y\":128},{\"x\":296,\"y\":123},\n    {\"x\":373,\"y\":122},{\"x\":425,\"y\":172},{\"x\":458,\"y\":217},{\"x\":461,\"y\":290},\n    {\"x\":470,\"y\":358},{\"x\":486,\"y\":394},{\"x\":525,\"y\":386},{\"x\":540,\"y\":358},\n    {\"x\":555,\"y\":306},{\"x\":557,\"y\":232},{\"x\":549,\"y\":160},{\"x\":528,\"y\":108},\n    {\"x\":454,\"y\":78},{\"x\":362,\"y\":72},{\"x\":236,\"y\":70},{\"x\":152,\"y\":72},{\"x\":92,\"y\":76}\n]\n\nfor (var i=1; i\u003couter.length; i++) {\n    let p1 = new Point(outer[i - 1].x, outer[i - 1].y);\n    let p2 = new Point(outer[i].x, outer[i].y);\n    let l =new Line(p1, p2, 3);\n    walls.push(l)\n}\n\nfor (var i=1; i\u003cinner.length; i++) {\n    let p1 = new Point(inner[i - 1].x, inner[i - 1].y);\n    let p2 = new Point(inner[i].x, inner[i].y);\n    let l = new Line(p1, p2, 3);\n    walls.push(l);\n}\n\nforever(function(){\n    \n    // 檢查車子是否碰到賽道邊界，碰到則將車子狀態改成 broken\n    cars.forEach(function (car) {\n        for (var x=0; x\u003ccar.border.length; x++) {\n            for (var y=0; y\u003cwalls.length; y++) {\n                if (car.border[x].touched(walls[y])) {\n                    car.status = 'broken';\n                    return;\n                }\n            }\n        }\n    });\n    \n    // 更新車子感測器的數值\n    cars.forEach(function (car) {\n        if (car.status == 'broken') return;\n        for (var x=0; x\u003ccar.sensors.length; x++) {\n            \n            var shortest = Infinity;\n            \n            for (var y=0; y\u003cwalls.length; y++) {\n                let pos = car.sensors[x].touched(walls[y]);\n                pen.color = 'blue'\n                pen.drawCircle(pos.x, pos.y, 5);\n                let length = Math.sqrt((pos.x - car.x)**2 + (pos.y - car.y)**2);\n                if (length \u003c shortest) {\n                    shortest = Math.round(length);\n                    car.sensorsData[x] = shortest;\n                }\n            }\n        }\n    });\n})\n","description":null,"note":null,"status":"public","like_student_ids":[],"is_featured":false,"views":290,"hashid":"meysggk6","is_content_changed":false,"review_status":"unsubmitted","submitted_at":null,"reviewed_at":null,"advise":null,"is_deleted":false}