Evolving a General Electronic Stability Program for Car Simulated in TORCS
Created by W.Langdon from
gp-bibliography.bib Revision:1.8028
- @InProceedings{Huang:2015:CIG,
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author = "Jilin Huang and Ivan Tanev and Katsunori Shimohara",
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title = "Evolving a General Electronic Stability Program for
Car Simulated in TORCS",
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booktitle = "Proceedings of the IEEE Conference on Computational
Intelligence and Games (CIG-2015)",
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year = "2015",
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editor = "Shi-Jim Yen and Tristan Cazenave and Philip Hingston",
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pages = "446--453",
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address = "Tainan, Taiwan",
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month = aug # " 31-" # sep # " 2",
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publisher = "IEEE",
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keywords = "genetic algorithms, genetic programming, electronic
stability program, evolutionary design, TORCS",
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DOI = "doi:10.1109/CIG.2015.7317955",
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size = "8 pages",
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abstract = "We present an approach of evolving (via Genetic
Programming, GP) the electronic stability program (ESP)
of a car, realistically simulated in The Open Racing
Car Simulator (TORCS). ESP is intended to assist the
yaw rotation of an unstable (e.g., either understeering
or oversteering) car in low-grip, slippery road
conditions by applying a carefully-timed asymmetrical
braking forces to its wheels. In the proposed approach,
the amount of ESP-induced brake force is represented as
an evolvable (via GP) algebraic function (brake force
function BFF) of the values of parameters, pertinent to
the state of the car, and their derivatives. In order
to obtain a general BFF, i.e., a function that result
in a handling of the car, that is better than that of
non ESP car, for a wide range of conditions, we
evaluate the evolving BFF in several fitness cases
representing different combinations of surface
conditions and speeds of the car. The experimental
results indicate that, compared to the car without ESP,
the best evolved BFF of ESP offers a superior
controllability - in terms of both (i) a smaller
deviation from the ideal trajectory and (ii) faster
average speed on a wide range of track conditions (icy,
snowy, rainy and dry) and travelling speeds. Presented
work could be viewed as an attempt to contribute a new
functionality in TORCS that might enrich the experience
of gamers by the enhanced controllability of their cars
in slippery road conditions. Also, the results could be
seen as a step towards the verification of the
feasibility of applying GP for automated, evolutionary
development of ESP.",
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notes = "Nice pictures of understeer and oversteer. XPG
\cite{Tanev:2003:AROB}
11:20 http://cig2015.nctu.edu.tw/program Graduate
School of Science and Engineering, Doshisha University,
Kyoto, Japan",
- }
Genetic Programming entries for
Jilin Huang
Ivan T Tanev
Katsunori Shimohara
Citations