robocup3d第三次培训-动作优化

优化

更改优化环境

./change.sh yh 用于将球场由比赛环境改为优化环境

./change.sh hy 用于将球场由优化环境改为比赛环境

安装Python环境

sudo apt-get update 更新源地址

sudo apt-get install python3 安装Python3环境

sudo python3 -V 查看已安装版本

sudo apt-get install python-pip 安装pip

sudo pip install XXX 使用pip安装模块

启动优化脚本

首先进入到项目的optimization目录，阅读README.md文档，查看用法。

./sample_start-optimization.sh 1 ../paramfiles/defaultParams_t1.txt out 启动优化脚本

使用cma-es

• 遗传算法思想
• 求y=(x-1)^2的最小值
• 复杂函数求极值

踢球场景切换为优化模式

优化过程详解

• 说明optimization/sample_start-optimization.sh

---

开始优化

1.优化脚本详解(robocup.py)

import cma
import os

std_list =[21.878452192908963,
-107.2655684773586,
-46.03084224893723,
122.50096005151583,
36.70802042526406,
74.34964372370875,
-23.35326324263892,
-1.411851711850464,
4.8436144712052585,
-12.878536016473056,
8.73474032972045,
-2.0087222938685585,
2.4649510821897755,
-0.19721363030046984,
-0.07855676227334851,
7.790202814460635,
5.980745105156915,
0.60539945683587]
#[11.6140517708,-4.9171027329,0.3251961719,-2.496460126,4.1228343724,4.8159507012,27.8958518161,34.1181422294,2.547294129,-3.247463629,-9.7463724405,-18.8513479245,0.2107818939,-2.8414504055,-0.6188735371,-8.6481949996,58.3129345744,58.8881654843,6.4995162332,14.6678754125,-0.2613845865,-0.0358574055]
#[-2.0087222938685585,2.4649510821897755,-10,-10,5,5,10,5,5,-10,-10,5,5,10,-10,5,-5,5,-0.223707187448,-0.0722786582128]
#[11.6140517708,-4.9171027329,0.3251961719,-2.496460126,4.1228343724,4.8159507012,27.8958518161,34.1181422294,2.547294129,-3.247463629,-9.7463724405,-18.8513479245,0.2107818939,-2.8414504055,-0.6188735371,-8.6481949996,58.3129345744,58.8881654843,6.4995162332,14.6678754125,-0.2613845865,-0.0358574055]

def writeToFile(paramList, filePath):
    file = open(filePath, 'r+')
    paramLines = file.readlines()
    file.close()
    paramNames = [i.split()[0] for i in paramLines]

    newLines = []
    for i in range(len(paramNames)):
        newLines.append(paramNames[i] + '\t' + str(paramList[i]) + '\n')

    file = open(filePath, 'w+')
    file.writelines(newLines)
    file.close()


def run(paramList, roboType, absPath):
    writeToFile(paramList, '../paramfiles/optimizing.txt')
    command1 = './sample_start-optimization.sh {0} {1} ./out'.format(roboType, absPath)
    os.system(command1)
    command2 = 'pkill -9 rcss'
    os.system(command2)
    file = open('./out')
    lines = file.readlines()
    file.close()
    os.remove('out')
    rst = lines[0]
    print("rst: ",rst)
    return float(rst)
def eva(ind):
	paramList = []
		
	for x in range(0, len(ind)):
		paramList.append(ind[x] * std_list[x])

	score = run(paramList, 1, '../paramfiles/optimizing.txt')
	file = open('./out2', 'a')
	newLines = []
	for i in range(len(paramList)):
	    newLines.append(str(paramList[i]) + ',')
	newLines.append(str(score) + '\n')
	file.writelines(newLines)
	file.close()
	return 30-score

cma.fmin(eva, len(std_list)*[1.1], 0.3)

2.优化结束后改变优化参数