- finetuned pheromone deposition, decay and colony factors

- made the ants aware of their last position (to prevent endless loops)
- added foundFood flag, so that ants only deposit food pheromones when they have actually found the food themself (stops reinforcing of possibly wrong information)

antificial/framework/colony/colony.py

@@ -4,9 +4,12 @@
 import math
 from random import getrandbits, randint
 
-SEARCH_HOME_RANDOM_FACTOR = 2
-SEARCH_FOOD_RANDOM_FACTOR = 2
-HOME_DISTANCE_FACTOR = 2.0
+SEARCH_HOME_RANDOM_FACTOR = 10
+SEARCH_FOOD_RANDOM_FACTOR = 15
+HOME_DISTANCE_FACTOR = 4.07
+
+HOME_PHEROMONE_STRENGTH = 200
+FOOD_PHEROMONE_STRENGTH = 55
 
 def distance(x1, y1, x2, y2):
  return math.sqrt((x2-x1)**2+(y2-y1)**2)
@@ -118,7 +121,7 @@ def __str__(self):
  output += "x: " + str(self.x)
  output += ", y: " + str(self.y)
  output += ", player: " + str(self.player)
- output += ", level: " + str(self.level) 
+ output += ", level: " + str(self.level)
  output += "}"
  return output
 
@@ -129,6 +132,9 @@ def __init__(self, colony):
  self.orientation = Orientation(randint(0, 7))
  self.state = None
  self.player = None
+ self.foundFood = False
+ self.lastX = None
+ self.lastY = None
 
  def init_state(self, state):
  self.state = state
@@ -170,6 +176,7 @@ def handle(self):
  food = world.get_food(self.ant.x, self.ant.y)
  if food != None:
  self.ant.player = food.player
+ self.ant.foundFood = True
  self.ant.state = SearchHomeState(self.ant)
  return
 
@@ -192,8 +199,6 @@ def handle(self):
 
  if best_food != None:
  self.move(self.ant.x, self.ant.y, best_food.x, best_food.y)
- self.ant.x = best_food.x
- self.ant.y = best_food.y
  return
 
  # strategy 3: if ant is close to food pheromone field, go there
@@ -203,21 +208,6 @@ def handle(self):
  if home is None:
  neighbours = world.get_neighbours_by_orientation(self.ant.x, self.ant.y, self.ant.orientation)
 
- # exclude borders and obstacles
- neighbours = [x for x in neighbours if x != None]
- '''
- best_pheromone = None
- for field in neighbours:
- if field.food_pheromone_level > 0:
- if best_pheromone == None:
- best_pheromone = field
- else:
- a = field.food_pheromone_level * randint(80, 100)/100
- b = best_pheromone.food_pheromone_level
-
- if a > b:
- best_pheromone = field
- '''
  best_pheromone = None
  for field in neighbours:
  if field.food_pheromone_level > 0:
@@ -226,20 +216,14 @@ def handle(self):
  elif field.food_pheromone_level > best_pheromone.food_pheromone_level:
  best_pheromone = field
 
- SEARCH_FOOD_RANDOM_FACTOR = 2
  if best_pheromone != None and randint(0, 100) < 100 - SEARCH_FOOD_RANDOM_FACTOR:
  self.move(self.ant.x, self.ant.y, best_pheromone.x, best_pheromone.y)
- self.ant.x = best_pheromone.x
- self.ant.y = best_pheromone.y
  return
 
  # strategy 4: if possible, move randomly straight-left, straight or straight-right
  if len(neighbours) > 0:
  next_field = neighbours[randint(0, len(neighbours) - 1)]
  self.move(self.ant.x, self.ant.y, next_field.x, next_field.y)
- self.ant.x = next_field.x
- self.ant.y = next_field.y
- return
 
  # strategy 5: else turn randomly left or right
  if bool(getrandbits(1)) is True:
@@ -250,7 +234,12 @@ def handle(self):
  def move(self, current_x, current_y, target_x, target_y):
  self.ant.colony.world.move_ant(current_x, current_y, target_x, target_y)
 
- self.ant.colony.world.deposit_pheromone(current_x, current_y, PheromoneType.HOME, 255)
+ self.ant.x = target_x
+ self.ant.y = target_y
+ self.ant.lastX = current_x
+ self.ant.lastY = current_y
+
+ self.ant.colony.world.deposit_pheromone(current_x, current_y, PheromoneType.HOME)
 
  # calculate new orientation
  if current_x - target_x == 0:
@@ -288,9 +277,15 @@ def handle(self):
  home = world.get_home(self.ant.x, self.ant.y)
  if home != None:
  self.ant.player = None
+ self.ant.foundFood = False
  self.ant.state = SearchFoodState(self.ant)
  return
 
+ # if the ant found the food set the foundFood flag, so the ant begins to deposit pheromones
+ food = world.get_food(self.ant.x, self.ant.y)
+ if food != None:
+ self.ant.foundFood = True
+
  # get neighbours as list
  neighbours = world.get_neighbours_as_list(self.ant.x, self.ant.y)
 
@@ -306,74 +301,64 @@ def handle(self):
 
  if len(homes_nearby) > 0:
  target = homes_nearby[randint(0, len(homes_nearby) - 1)]
- self.move(self.ant.x, self.ant.y, target.x, target.y)
- self.ant.x = target.x
- self.ant.y = target.y
+ self.move(self.ant.x, self.ant.y, target.x, target.y, self.ant.foundFood)
  return
 
- # strategy 3: if ant is close to food pheromone field, go there
+ # strategy 3: if ant is not at a food location, consider only the ant's neighbours relative to its orientation
+ #food = world.get_food(self.ant.x, self.ant.y)
+ #if food is None:
+ # neighbours = world.get_neighbours_as_list(self.ant.x, self.ant.y)
 
- # if ant is not at a food location, consider only the ant's neighbours relative to its orientation
- food = world.get_food(self.ant.x, self.ant.y)
- if food is None:
- neighbours = world.get_neighbours_by_orientation(self.ant.x, self.ant.y, self.ant.orientation)
-
- # exclude borders and obstacles
- neighbours = [x for x in neighbours if x != None]
- '''
- best_pheromone = None
+ # remove last position, so the ant does not endlessly walk back and forth
  for field in neighbours:
- if field.home_pheromone_level > 0:
- if best_pheromone == None:
- best_pheromone = field
- else:
- a = field.home_pheromone_level * randint(80, 100)/100
- b = best_pheromone.home_pheromone_level
+ if field.x == self.ant.lastX and field.y == self.ant.lastY:
+ neighbours.remove(field)
+ break
 
- if a > b:
- best_pheromone = field
- '''
  attractivess = 0
  best_pheromone = None
  for field in neighbours:
  if field.home_pheromone_level <= 0:
  continue
  dist = distance(field.x, field.y, self.ant.colony.home.x, self.ant.colony.home.y)
  tmp_attractivess = (field.home_pheromone_level / 255) + (((128 - dist) / 128) * HOME_DISTANCE_FACTOR)
+
  if attractivess < tmp_attractivess:
  attractivess = tmp_attractivess
  best_pheromone = field
- # if best_pheromone == None:
- # best_pheromone = field
- # attractivess = field.pheromone_level + distance(field.x, field.y, self.ant.colony.home.x, self.ant.colony.home.y)
- # elif field.home_pheromone_level > best_pheromone.home_pheromone_level:
- # best_pheromone = field
 
  if best_pheromone != None and randint(0, 100) < 100 - SEARCH_HOME_RANDOM_FACTOR:
- self.move(self.ant.x, self.ant.y, best_pheromone.x, best_pheromone.y)
- self.ant.x = best_pheromone.x
- self.ant.y = best_pheromone.y
+ self.move(self.ant.x, self.ant.y, best_pheromone.x, best_pheromone.y, self.ant.foundFood)
  return
 
  # strategy 4: if possible, move randomly straight-left, straight or straight-right
+ neighbours = world.get_neighbours_by_orientation(self.ant.x, self.ant.y, self.ant.orientation)
+
  if len(neighbours) > 0:
  next_field = neighbours[randint(0, len(neighbours) - 1)]
- self.move(self.ant.x, self.ant.y, next_field.x, next_field.y)
- self.ant.x = next_field.x
- self.ant.y = next_field.y
- return
+ if next_field != None:
+ self.move(self.ant.x, self.ant.y, next_field.x, next_field.y, self.ant.foundFood)
+ return
 
  # strategy 5: else turn randomly left or right
  if bool(getrandbits(1)) is True:
  self.ant.orientation = Orientation.right(self.ant.orientation)
  else:
  self.ant.orientation = Orientation.left(self.ant.orientation)
 
- def move(self, current_x, current_y, target_x, target_y):
+ def move(self, current_x, current_y, target_x, target_y, foundFood):
  if target_x == self.ant.colony.home.x and target_y == self.ant.colony.home.y:
  self.ant.colony.drop_off_food(self.ant.player)
+
  self.ant.colony.world.move_ant(current_x, current_y, target_x, target_y)
- self.ant.colony.world.deposit_pheromone(current_x, current_y, PheromoneType.FOOD, 255)
+
+ self.ant.x = target_x
+ self.ant.y = target_y
+ self.ant.lastX = current_x
+ self.ant.lastY = current_y
+
+ if foundFood:
+ self.ant.colony.world.deposit_pheromone(current_x, current_y, PheromoneType.FOOD)
 
  # calculate new orientation
  if current_x - target_x == 0:
@@ -399,15 +384,15 @@ def move(self, current_x, current_y, target_x, target_y):
 class WorldFacade():
  def __init__(self, world):
  self.world = world
- #self.neighbours_cache = None
 
  def get_neighbours(self, x, y):
  return self.world.get_neighbours(x, y, 1)
 
- def get_neighbours_as_list(self, x, y):
+ def get_neighbours_as_list(self, x, y, excludeBordersAndObstacles = True):
  neighbours = self.get_neighbours(x, y)
 
- return [
+ # reorder them according to orientation
+ neighbours = [
  neighbours[1][0], # north
  neighbours[2][0], # northeast
  neighbours[2][1], # east
@@ -418,9 +403,15 @@ def get_neighbours_as_list(self, x, y):
  neighbours[0][0] # northwest
  ]
 
+ if not excludeBordersAndObstacles:
+ return neighbours
+
+ # exclude borders and obstacles
+ return [x for x in neighbours if x != None]
+
  def get_neighbours_by_orientation(self, x, y, orientation):
  orientation = Orientation(orientation)
- neighbours = self.get_neighbours_as_list(x, y)
+ neighbours = self.get_neighbours_as_list(x, y, False)
 
  straight_left = orientation - 1
  if straight_left < 0:
@@ -430,69 +421,14 @@ def get_neighbours_by_orientation(self, x, y, orientation):
  if straight_right > 7:
  straight_right = 0
 
- return [
+ neighbours = [
  neighbours[straight_left], # straight left
  neighbours[orientation], # straight
  neighbours[straight_right] # straight right
  ]
- '''
- def get_neighbours_by_orientation(self, x, y, orientation):
- orientation = Orientation(orientation)
 
- if self.neighbours_cache is None:
- self.world.get_neighbours(x, y)
-
- if orientation == Orientation.NORTH:
- neighbours_by_orientation = [
- self.neighbours_cache[0][0],
- self.neighbours_cache[1][0],
- self.neighbours_cache[2][0]
- ]
- elif orientation == Orientation.NORTHEAST:
- neighbours_by_orientation = [
- self.neighbours_cache[1][0],
- self.neighbours_cache[2][0],
- self.neighbours_cache[2][1]
- ]
- elif orientation == Orientation.EAST:
- neighbours_by_orientation = [
- self.neighbours_cache[2][0],
- self.neighbours_cache[2][1],
- self.neighbours_cache[2][2]
- ]
- elif orientation == Orientation.SOUTHEAST:
- neighbours_by_orientation = [
- self.neighbours_cache[2][1],
- self.neighbours_cache[2][2],
- self.neighbours_cache[1][2]
- ]
- elif orientation == Orientation.SOUTH:
- neighbours_by_orientation = [
- self.neighbours_cache[2][2],
- self.neighbours_cache[1][2],
- self.neighbours_cache[0][2]
- ]
- elif orientation == Orientation.SOUTHWEST:
- neighbours_by_orientation = [
- self.neighbours_cache[1][2],
- self.neighbours_cache[0][2],
- self.neighbours_cache[0][1]
- ]
- elif orientation == Orientation.WEST:
- neighbours_by_orientation = [
- self.neighbours_cache[0][2],
- self.neighbours_cache[0][1],
- self.neighbours_cache[0][0]
- ]
- elif orientation == Orientation.NORTHWEST:
- neighbours_by_orientation = [
- self.neighbours_cache[0][1],
- self.neighbours_cache[0][0],
- self.neighbours_cache[1][0]
- ]
-
- return neighbours_by_orientation
- '''
+ # exclude borders and obstacles
+ return [x for x in neighbours if x != None]
 
  def get_food(self, x, y):
  field = self.world.get(x, y)
@@ -515,8 +451,8 @@ def get_home(self, x, y):
  def move_ant(self, source_x, source_y, destination_x, destination_y):
  self.world.move_ant(source_x, source_y, destination_x, destination_y)
 
- def deposit_pheromone(self, x, y, pheromone_type, pheromone_strength):
+ def deposit_pheromone(self, x, y, pheromone_type):
  if pheromone_type is PheromoneType.HOME:
- self.world.deposit_pheromone(x, y, pheromone_type, int(pheromone_strength * 0.5))
+ self.world.deposit_pheromone(x, y, pheromone_type, HOME_PHEROMONE_STRENGTH)
  else:
- self.world.deposit_pheromone(x, y, pheromone_type, int(pheromone_strength * 0.2))
+ self.world.deposit_pheromone(x, y, pheromone_type, FOOD_PHEROMONE_STRENGTH)

antificial/framework/handler.py

@@ -10,8 +10,8 @@
 TIMEOUT = 0
 IPS = 15
 ANT_COUNT = 300
-DECAY_RATE_HOME = 1
-DECAY_RATE_FOOD = 4
+DECAY_RATE_HOME = 2
+DECAY_RATE_FOOD = 3
 # Game State
 GAME_BEGIN = 0
 GAME_RUNNING = 1