RewardFunction_1.py

def reward_function(params):
    '''
    Example of rewarding the agent to follow center line
    '''

    # Calculate 3 marks that are farther and father away from the center line
    marker_1 = 0.1 * params['track_width']
    marker_2 = 0.25 * params['track_width']
    marker_3 = 0.5 * params['track_width']
    speed = params['speed']
    steering_angel = params['steering_angle']
    is_left_of_center = params['is_left_of_center']
    all_wheels_on_track = params['all_wheels_on_track']
    reward = 1e-3
    if params['closest_waypoints'][1] >= 0 and params['closest_waypoints'][1] <= 10:
        if speed > 1 and speed < 2:
            reward = 1
        if speed > 2:
            reward = 2
        if abs(steering_angel) == 0:
            reward += 2.0
        if params['distance_from_center'] <= marker_1:
            reward += 1.0
        elif params['distance_from_center'] <= marker_2:
            reward += 0.5
        elif params['distance_from_center'] <= marker_3:
            reward += 0.1
        else:
            reward = 1e-3  # likely crashed/ close to off track
    elif params['closest_waypoints'][1] >= 11 and params['closest_waypoints'][1] <= 24:
        if steering_angel > 0:
            reward = 1.0
        if speed < 1:
            reward += 1
        if is_left_of_center:
            reward += 1
        if not all_wheels_on_track:
            reward = 1e-3
    elif params['closest_waypoints'][1] >= 25 and params['closest_waypoints'][1] <= 29:
        if speed > 1 and speed < 2:
            reward = 1
        if speed > 2:
            reward = 2
        if abs(steering_angel) < 13:
            reward += 0.75
        if not is_left_of_center:
            reward += 1
        if params['distance_from_center'] <= marker_2:
            reward += 0.5
        elif params['distance_from_center'] <= marker_3:
            reward += 0.1
        else:
            reward = 1e-3  # likely crashed/ close to off track
    elif params['closest_waypoints'][1] >= 30 and params['closest_waypoints'][1] <= 33:
        if steering_angel < 0:
            reward = 1.0
        if speed > 1.5:
            reward += 1
        if not is_left_of_center:
            reward += 1
        if not all_wheels_on_track:
            reward = 1e-3
    elif params['closest_waypoints'][1] >= 40 and params['closest_waypoints'][1] <= 44:
        if steering_angel > 0:
            reward = 1.0
        if speed < 1:
            reward += 1
        if is_left_of_center:
            reward += 1
        if not all_wheels_on_track:
            reward = 1e-3
    elif params['closest_waypoints'][1] >= 45 and params['closest_waypoints'][1] <= 46:
        if speed > 1 and speed < 2:
            reward = 1
        if speed > 2:
            reward = 2
        if abs(steering_angel) < 13:
            reward += 0.75
        if params['distance_from_center'] <= marker_1:
            reward += 1.0
        elif params['distance_from_center'] <= marker_2:
            reward += 0.5
        elif params['distance_from_center'] <= marker_3:
            reward += 0.1
        else:
            reward = 1e-3  # likely crashed/ close to off track
    elif params['closest_waypoints'][1] >= 47 and params['closest_waypoints'][1] <= 49:
        if speed > 1 and speed < 2:
            reward = 1
        if speed > 2:
            reward = 2
        if abs(steering_angel) < 13:
            reward += 0.75
        if params['distance_from_center'] <= marker_1:
            reward += 1.0
        elif params['distance_from_center'] <= marker_2:
            reward += 0.5
        elif params['distance_from_center'] <= marker_3:
            reward += 0.1
        else:
            reward = 1e-3  # likely crashed/ close to off track
    elif params['closest_waypoints'][1] >= 50 and params['closest_waypoints'][1] <= 52:
        if steering_angel > 0:
            reward = 1.0
        if speed < 1:
            reward += 1
        if is_left_of_center:
            reward += 1
        if not all_wheels_on_track:
            reward = 1e-3
    elif params['closest_waypoints'][1] >= 53 and params['closest_waypoints'][1] <= 61:
        if speed > 1 and speed < 2:
            reward = 1
        if speed > 2:
            reward = 2
        if abs(steering_angel) < 13:
            reward += 0.75
        if params['distance_from_center'] <= marker_1:
            reward += 1.0
        elif params['distance_from_center'] <= marker_2:
            reward += 0.5
        elif params['distance_from_center'] <= marker_3:
            reward += 0.1
        else:
            reward = 1e-3  # likely crashed/ close to off track
    elif params['closest_waypoints'][1] >= 62 and params['closest_waypoints'][1] <= 67:
        if steering_angel > 0:
            reward = 1.0
        if speed < 1:
            reward += 1
        if is_left_of_center:
            reward += 1
        if not all_wheels_on_track:
            reward = 1e-3
    elif params['closest_waypoints'][1] >= 68 and params['closest_waypoints'][1] <= 70:
        if speed > 1 and speed < 2:
            reward = 1
        if speed > 2:
            reward = 2
        if abs(steering_angel) == 13:
            reward += 0.75
        if params['distance_from_center'] <= marker_1:
            reward += 1.0
        elif params['distance_from_center'] <= marker_2:
            reward += 0.5
        elif params['distance_from_center'] <= marker_3:
            reward += 0.1
        else:
            reward = 1e-3  # likely crashed/ close to off track
    else:
        if params['distance_from_center'] <= marker_1:
            reward = 1.0
        elif params['distance_from_center'] <= marker_2:
            reward = 0.5
        elif params['distance_from_center'] <= marker_3:
            reward = 0.1
        else:
            reward = 1e-3  # likely crashed/ close to off track
    return float(reward)