Track Driving Simulator in MATLAB
- This simulator is intended for developing algorithms for autonomous cars.
- Can be easily tuned to implement reinforcement learning or inverse reinforcement learning algorithms.
Collecting Demonstrations (Run 'run_track01_manualcollect')
![collect](https://camo.githubusercontent.com/22c4dd061d93b36d70e02e6b0e35840890da8625149e55df7333ee2056d7c812/687474703a2f2f692e6d616b65616769662e636f6d2f6d656469612f342d31302d323031372f557a457a69332e676966)
Check Collected Demonstrations (Run 'run_track02_checkcollected')
![check](https://camo.githubusercontent.com/991ffc695f29e06d68a639d0e5171cc658ae9e8316d677618bc13c2ee2b4b5f4/687474703a2f2f692e6d616b65616769662e636f6d2f6d656469612f342d31302d323031372f7432434253662e676966)
Train Controller with DMRL (Run 'run_track03_trainDMRL')
![train](https://camo.githubusercontent.com/e663375468db58b3d70cdf9563e9cfdad2ecf2cefe77ba91d691400494f37429/687474703a2f2f692e6d616b65616769662e636f6d2f6d656469612f342d31302d323031372f347a313474382e676966)
Test on More Complex Tracks (Run 'run_track04_testDMRL')
![test](https://camo.githubusercontent.com/fe43be8a11c26109927a9ba19da36f77cd6a65a66017bd9aa038e882dd8e5dcb/687474703a2f2f692e6d616b65616769662e636f6d2f6d656469612f342d31302d323031372f706c433045392e676966)
- The blue car is controlled by the keyboard and the red cars autonomously maintain each lanes.
![Track driving simulator (updated)](https://camo.githubusercontent.com/b7e8d252c928602dcadd12b436f86617d5ec0fb0bd55ee90072f0d77e694225d/687474703a2f2f692e6d616b65616769662e636f6d2f6d656469612f342d31302d323031372f54744e6351762e676966)
- YouTube Link
- Control the car with keyboard inputs.
- Compose tracks with a block-building like manner.
- Lane width, length, number of lane, and the number of segments can also be modified.
- Obtainable features are
- Lane deviate distance / degree
- Distances from the closest right, center, and left cars
- Geodesic distance from the start lane
- Which lane and segment the current car is located at.
- Traffic Lights are added.
- Range finder sensors are added.
sungjoon.choi@cpslab.snu.ac.kr