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3 Commits

Author SHA1 Message Date
Pawel Felcyn
10f62ce529 recognize garbage by image 2023-06-05 10:17:28 +02:00
Pawel Felcyn
e4cd4e727c add neuron netowrk learning 2023-06-05 08:52:18 +02:00
Pawel Felcyn
e208831d80 move train data to a seperate folder 2023-06-05 08:23:31 +02:00
13568 changed files with 143 additions and 99 deletions

22
bfs.py
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@ -8,16 +8,16 @@ from queue import Queue, PriorityQueue
from turnCar import turn_left_orientation, turn_right_orientation
class Successor: # klasa reprezentuje sukcesora, stan i akcję którą można po nim podjąć
class Successor:
def __init__(self, state: AgentState, action: AgentActionType, cost: int, predicted_cost: int) -> None:
self.state = state
self.action = action
self.cost = cost
self.predicted_cost = predicted_cost
self.predicted_cost = cost
class SuccessorList: # lista sukcesorów, czyli możliwych ścieżek po danym stanie
class SuccessorList:
succ_list: list[Successor]
def __init__(self, succ_list: list[Successor]) -> None:
@ -31,17 +31,17 @@ class SuccessorList: # lista sukcesorów, czyli możliwych ścieżek po danym s
def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[
AgentActionType]: # znajduje ścieżkę do najbliższego kosza na smieci
AgentActionType]:
visited: List[AgentState] = []
queue: PriorityQueue[SuccessorList] = PriorityQueue() # kolejka priorytetowa przechodująca listę sukcesorów
queue: PriorityQueue[SuccessorList] = PriorityQueue()
queue.put(SuccessorList([Successor(startState, AgentActionType.UNKNOWN, 0, _heuristics(startState.position, city))]))
while not queue.empty(): # dopóki kolejka nie jest pusta, pobiera z niej aktualny element
while not queue.empty():
current = queue.get()
previous = current.succ_list[-1]
visited.append(previous.state)
if is_state_success(previous.state, grid): # jeśli ostatni stan w liście jest stanem końcowym (agent dotarł do śmietnika)
if is_state_success(previous.state, grid):
return extract_actions(current)
successors = get_successors(previous, grid, city)
@ -61,7 +61,7 @@ def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int],
return []
def extract_actions(successors: SuccessorList) -> list[AgentActionType]: # wyodrębnienie akcji z listy sukcesorów, z pominięciem uknown
def extract_actions(successors: SuccessorList) -> list[AgentActionType]:
output: list[AgentActionType] = []
for s in successors.succ_list:
if s.action != AgentActionType.UNKNOWN:
@ -70,7 +70,7 @@ def extract_actions(successors: SuccessorList) -> list[AgentActionType]: # wyod
def get_successors(succ: Successor, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[Successor]:
result: List[Successor] = [] # generuje następników dla danego stanu,
result: List[Successor] = []
turn_left_cost = 1 + succ.cost
turn_left_state = AgentState(succ.state.position, turn_left_orientation(succ.state.orientation))
@ -128,7 +128,7 @@ def get_next_cell(state: AgentState) -> Tuple[int, int]:
def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
next_cell = get_next_cell(state)
try:
return grid[next_cell] == GridCellType.GARBAGE_CAN # agent dotarł do śmietnika
return grid[next_cell] == GridCellType.GARBAGE_CAN
except KeyError:
return False
@ -137,7 +137,7 @@ def get_cost_for_action(action: AgentActionType, cell_type: GridCellType) -> int
if action in [AgentActionType.TURN_LEFT, AgentActionType.TURN_RIGHT]:
return 1
if cell_type == GridCellType.SPEED_BUMP and action == AgentActionType.MOVE_FORWARD:
return -10000
return 10
if action == AgentActionType.MOVE_FORWARD:
return 3

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