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cs221-pa3

# cs221-pa3 - CS221 Problem Set#3 Programming Part 1 CS 221...

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CS221 Problem Set #3 Programming Part 2 The state of the car, s , can be described by an array of 4 real numbers: s = [ y, v x , v y , θ ]. y is the y position of the car relative to the road. v x and v y are the car’s velocity along the x and y axes, and θ is the car’s heading. In each state, one may choose an action for the car to execute. An action is an array of 2 real numbers: a = [ α, ω ]. α is the steering angle (i.e., the angle of the tires relative to the car’s center-line – positive angles cause a left turn, negative angles cause a right turn), and ω is the “velocity” of the car’s wheels. As an example, if a = [0 , 10], then the car will drive straight, with the wheels spinning at a rate such that they propel the car at 10m/s (i.e., they spin at a rate of ω = 10 /r radians/sec, where r is the radius of the wheel). The car has an infinite amount of torque, and will immediately drive the wheels at whatever velocity is commanded. Choosing ω 0 will result in applying the car’s brakes – you cannot drive backward.
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cs221-pa3 - CS221 Problem Set#3 Programming Part 1 CS 221...

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