Evolving Docking Juxi.net

OC vs. Neurocontroller (+noise)

The trajectories as given by the optimal control solution are run in the simulation here (with and without Noise in the integrator on \ddot x and \ddot y) and are compared with the neurocontrollers that performed well.

Max. NoiseOCNC (w\o noise)NC (noise 0.2, one run)NC (noise 0.2, 5 runs)
0.1
(10 runs)
0.2
(10 runs)
f: -0.5528 f: -0.4814 f: -0.4812 f: -0.7018
0.3
(10 runs)
0.4
(10 runs)

 

Optimal Control Trajectories

The trajectories as given by the optimal control solution are run in the simulation here (with and without Noise in the integrator on \ddot x and \ddot y).

Max. Noise-2 / 0-2 / 2
0.0
0.1
(10 runs)
0.2
(10 runs)
0.3
(10 runs)
0.4
(10 runs)
0.5
(10 runs)
1.0
(10 runs)

 

Selected Trajectories

Here are some interesting plots that came out during the evolution of the neurocontroller.