options.doc

神经网络和遗传算法组合应用

optann - a Khepera simulator by Johan Carlsson (c)2000


Description:
This file explains what options in the options file that are valid 
and what they do. 

General:
Comments can be added in the option file. All comments
should start with an '#', all text after the '#' will
be ignored during parsing. All options have the following
syntax OPTION_NAME followed by parameters.

Options: (in alphabetic order)
     
BACK_INFRARED
--------------------------------
Description:
Specifies if you want to use the rear infrared approximate
sensors.

Parameters:
2 = both, 0 = none

BAUD_RATE
--------------------------------
Description:
Communication speed for direct connection to Khepera
robot.
Parameters:
9600, 19200 or 38400

BIG_CAMERA
--------------------------------
Description:
Camerafile to be used for large obstacles
Parameters:
filename

BIT_MUTATION
--------------------------------
Description:
The chance that a bit mutates during mutattion
Parameters:
0 - 100

CAMERA_PATH
--------------------------------
Description:
Directory where the camerafiles are stored
Parameters:
a directory path

COMPASS_SENSOR
--------------------------------
Description:
Specifies if you want to use the compass sensor
or not.
Parameters:
0 = no, 1 = yes

EPOCHS
--------------------------------
Description:
The number epochs (runs) which each individ
are tested.
Parameters:
1 - MAX_INT

FITNESS_FILE
--------------------------------
Description:
File where the individs fitness for each generation
will be stored.
Parameters:
filename

FITNESS_FUNCTION
--------------------------------
Description:
Which fitness function to use, (used in sim.c)
Parameters:
a number

FRONT_INFRARED
--------------------------------
Description:
How many front approximal sensors to use
Parameters:
2, 4 or 6

GENERATIONS
--------------------------------
Description:
The number of generations the simulation will be
runned.
Parameters:
a integer larger than startgeneration

GRIPPER
--------------------------------
Description:
Specifies if your robots should be equipped with
the gripper turret.
Parameters:
1 = yes, 0 = no

GRIPPER_NO_NOISE
--------------------------------
Description:
Specifies if you want add noise to the grippersensor,
problary not since the real gripper sensor just returns
0 or 1024. This is for compability with Nolfis simulator.
Parameters:
1 = yes, 0 = no

GRIPPER_SENSOR
--------------------------------
Description:
Specifies if you want to use the gripper sensor
Parameters:
1 = yes, 0 = no

GROUND_SENSOR
--------------------------------
Description:
Specifies if you want to use the groundsensor. The
groundsensor is a simulator invention and does not
exist in real khepera robots. The sensor detects 
if the robot is in a zone area and returns a uniqe
id for each zone.
Parameters:
1 = yes, 0 = no

INDIVIDS
--------------------------------
Description:
The number of individs to use in the simulation.
Parameters:
any number larger that 1

LIGHT_CAMERA
--------------------------------
Description:
Specifies which camerafile to use for the lightbulbs
Parameters:
a file name

LIGHTBULB_SENSORS
--------------------------------
Description:
Specifies if you want to activate the lightbulbsensors
on the robot.
Parameters:
1 = yes, 0 = no

LOG_PATH
--------------------------------
Description:
The directory where all logs should be stored
Parameters:
a directory

MOTOR_CAMERA
--------------------------------
Description:
Specifies the camerafile to be used for
the khepera motor (the movement vectors
for different motoractivations)
Parameters:
filename

MOVE_OBSTACLES
--------------------------------
Description:
if activated small round obstacles will
be replaced after each epoch. That is 
they will change cordinates.
Parameters:
1  = yes, 0 = no

NOISE_PERCENTAGE
--------------------------------
Description:
Amount of noise that should be added to
sensor if so requested (by SENSOR_NOISE)
Parameters:
0 - 100

NR_OF_INDIVIDS_TO_LOG
--------------------------------
Description:
Picks how many of the best individ 
(those with the highest fitness) that should
be logged in the fitness file.
Parameters:
a number

NR_OF_STEPS
--------------------------------
Description:
The number of time steps each epoch should
be runned.
Parameters:
a integer

OFFSPRINGS
--------------------------------
Description:
How many copys that will be made of a potential
parent individ. OFFSPRINGS * PARENTS = NROFINDIVIDS
Parameters:
a integer

PARENTS
--------------------------------
Description:
The number of parents that will create the
new generation. OFFSPRINGS * PARENTS = NROFINDIVIDS
Parameters:
a integer

PICTURE_ROBOT
--------------------------------
Description:
The xpm file that should be used as the robot if
the simulator is compiled with xpm support.
Parameters:
a filename

PICTURE_WORLD
--------------------------------
Description:
The xpm file that should be used as the world
background if the simulator is compiler with
xpm support.
Parameters:
a filename

RUN_REAL
--------------------------------
Description:
Toggles if the robot should be runned
in the real environment over a serialline.
No evolution occurs during RUN_REAL
Parameters:
1 = yes, 0 = no

SAVE_WEIGHTS_EVERY_x_GENERATION
--------------------------------
Description:
Specifies how often the individs weight
should be saved. generation mod X, where
X is the number specified.
Parameters:
integer (X)

SCALE
--------------------------------
Description:
The scale factor that the environment window
should have.
Parameters:
a real value

SELECTION_METHOD
--------------------------------
Description:
Specifies which selection mechanism that will be used.
Parameters:
0 : Elite selection, chooses the PARENTS best individ
1 : Tournament selection

SENSOR_NOISE
--------------------------------
Description:
Specifies if sensor noise should be added to the
approximal infrared sensors.
Parameters:
1 = yes, 0 = no

SERIAL_LINE
--------------------------------
Description:
Device that should be opened as the serial line.
In linux it might be /dev/ttyS0 or /dev/ttyS1
for com1 respectively com2
Parameters:
a device name

SMALL_CAMERA
--------------------------------
Description:
The camera file to be used for small round osbtacles
(moveable).
Parameters:
a file name

START_GENERATION
--------------------------------
Description:
The generation that the evolution should start at.
If the value is bigger than zero weightsfile will be 
loaded.
Parameters:
-1 = start from scratch, x > 0 = load weights from generation x

TEST_SAME_START_POSITION
--------------------------------
Description:
Specifies if all indivds should start at the same position.
Good if you want to compare individs.
Parameters:
1 = yes, 0 = no

UPDATE_DELAY
--------------------------------
Description:
Used as the delay when updating the graphics, if the graphics runs
slow test to lower this delay.
Parameters:
a integer 

VERBOSE_LEVEL
--------------------------------
Description:
This variable is global in the simulator and are
used to specify how much text output the simulator
should produce
Parameters:
0, 1, 2 ... MAX_INT

WALL_CAMERA
--------------------------------
Description:
The camera file to be used for walls
Parameters:
a file name

WEIGHT_FILE
--------------------------------
Description:
Prefix for the weightsfile. The weightsfile takes the form
[prefix]generation_number.wts
Parameters:
a string

WORLD_FILE
--------------------------------
Description:
The worldfile to be used for the simulation
Parameters:
a filename

WORLD_PATH
--------------------------------
Description:
The path to the worldfiles.
Parameters:
a directory path