Heuristic optimization algorithms to improve the performance of a lane detection and tracking algorithm, using Webots simulator.
| controllers | ||
| plugins/robot_windows | ||
| protos | ||
| resources/osm_files | ||
| results | ||
| worlds | ||
| .gitignore | ||
| importer_demo.sh | ||
| LICENSE | ||
| Makefile | ||
| README.md | ||
Optimization of a lane detection and tracking algorithm.
This repository contains the implementation of two metaheuristic algorithms developed to optimize an autonomous driving algorithm with the aim of reducing the travel time of a competition circuit.
One of the heuristic algorithms is based on local search engines and taboo lists for optimization. The other heuristics implements a standard genetic algorithm.
Both algorithms are developed in C and run under the Webots simulation environment. Webots provides the simulation engine of the vehicle, the circuit and all the physics.
Installation
Usage
Open and run an instance of the simulator, with the search-based optimization algorithm:
webots --mode=pause robc_webots/worlds/circuit.wbt
Open and run an instance of the simulator, with the genetic optimization algorithm
webots --mode=pause robc_webots/worlds/circuit_ga.wbt