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Unformatted text preview: CS221 Problem Set #3 Programming Part 1 CS 221, Autumn 2009 Problem Set #3 Programming Assignment Due by 9:30am on Tuesday, November 10. Please see the course information page on the class website for late homework submission instructions. SCPD students can also fax their solutions to (650) 7251449. We will not accept solutions by email or courier. Programming part (30 points) Overview In this programming assignment, youll use the value iteration algorithm to find a policy for driving a car on a loosesurface road. The car will begin facing down the road in one direction, traveling at a fixed speed. Your policy will need to learn to spin the car around and then drive off in the opposite direction as quickly as possible. You are provided with a simple simulator of the car that, given a (realvalued) state vector, will simulate forward in time using a specified (realvalued) action vector. Since the simulator operates on continuousvalued states and actions, weve discretized the state and action spaces for you. In these discretized spaces, youll use the simulator to collect data and build up a probabilistic model of the cars dynamics. Once you have such a model, youll compute the value function (using value iteration) for the discrete MDP, and finally compute the optimal policy from the value function. This policy can be used by the provided graphical display function, so that you can see how the car performs using your policy. Please keep all of your code confined to learnTransitionModel.m and solveMDP.m . The code necessary to complete this assignment is not very long you shouldnt need to modify any other files. The Continuous State Model The road on which the car is driving defines the xaxis of the coordinate system (which you can think of as east). The yaxis points to the left side of the road (north) if the car is facing in the positive x direction. Angles are measured counterclockwise from the x axis, so if the cars heading is 0, then it is facing directly down the road, and if its heading is , then it is facing down the road in the opposite direction. 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 , ]. y is the y position of the car relative to the road. v x and v y are the cars velocity along the x and y axes, and is the cars heading. In each state, one may choose an action for the car to execute. An action is an array of 2 real numbers: a = [ , ]. is the steering angle (i.e., the angle of the tires relative to the cars centerline positive angles cause a left turn, negative angles cause a right turn), and is the velocity of the cars 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 = 10 /r radians/sec, where r is the radius of the wheel). The car has an infinite amountis the radius of the wheel)....
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This note was uploaded on 12/15/2009 for the course CS 221 taught by Professor Koller,ng during the Fall '09 term at Stanford.
 Fall '09
 KOLLER,NG

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