Reinforcement learning for steering control of car
This repository contains modified version of TORCS
TORCS is an open racing car simulator which can be programmed in C++. We can create and program car(s) in TORCS to perform different tasks. In this repository, I have created a car named "ROBO" which performs self learning task on a given track.
We used Q-learning for training our self-learning car. With a total of 200 states and 7 actions, the car is able to predict steering values accurately.
- Install following dependecies:
sudo apt-get install build-essential libxmu-dev libxmu6 libxi-dev libxine-dev libalut-dev freeglut3 freeglut3-dev cmake libogg-dev libvorbis-dev libxxf86dga-dev libxxf86vm-dev libxrender-dev libxrandr-dev zlib1g-dev libpng12-dev - Download PLIB 1.8.5
tar xfvz /path/plib-1.8.5*
cd plib-1.8.5
./configure CFLAGS="-fPIC" CXXFLAGS="-fPIC" CPPFLAGS="-fPIC"
make
sudo make install - Download OpenAL
tar xfvj /path/openal-soft-1.17.2*
cd openal-soft-1.17.2
cd build
cmake ..
make
sudo make install - Download FreeGlut
tar xfvz /path/freeglut-3.0.0*
cd freeglut-3.0.0
cmake .
make
sudo make install - Download/clone this repository
git clone https://github.com/2vin/self-learning-car.git
cd self-learning-car
./configure
make
sudo make install
sudo make datainstall - Add following lines in ~/.bashrc file
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
export TORCS_BASE=path_where_repo_is_saved
export MAKE_DEFAULT=$TORCS_BASE/Make-default.mk
Go to self-driving-car/src/drivers directory and run the following command:
make
make install
(Note: In order to train the robot, go to ROBO.cpp and change value of TRAINACTIVE & STARTACTIVE to true. For testing mode, set these values to false)
In new terminal, type the following command:
torcs
This will open the simulator in new window. In order to see the self-learning-car in action, go to Race -> Practice -> Configure Race, and see select 'ROBO' from the list. Then, start New Race in Practice to see the car running on track.
