Drones 2D

A 2D drone simulation powered by neural networks and genetic algorithms.

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Screenshots

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Requirements

• OpenGL 4.3
• glfw3
• glew
• FreeType

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Build

git clone https://github.com/kz04px/drones-2d
cd drones-2d/build
cmake ..
make

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Network Architecture

Drones are controlled by feedforward neural networks of size 7,9,4 with tanh activation functions.

Inputs:

• x distance to target
• y distance to target
• x speed
• y speed
• sin(drone orientation)
• cos(drone orientation)
• angular velocity

Outputs:

• Left engine throttle (Clamped between 0.0f and 1.0f)
• Left engine orientation
• Right engine throttle (Clamped between 0.0f and 1.0f)
• Right engine orientation

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Controls

Esc    - Quit
Space  - Toggle pause
F1     - Toggle debug
F2     - Print debug information
F3     - Toggle wireframe
F4     - Reset camera position
1      - 10 fps simulation
2      - 60 fps simulation (default)
3      - 120 fps simulation
4      - 240 fps simulation
5      - max fps simulation
MMB    - Drag to move camera
Scroll - Zoom in/out

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Command Line Parameters

-benchmark
Enables benchmarking

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Thanks

• FreeType library - FreeType is a freely available software library to render fonts.
• RobotoMono-Regular.ttf - A monospace font I think looks nice.