Coupled inverted pendulums benchmark
2010/11/30
Heiko Hamann
Thomas Schmickl
Scenario
Several carts on which an inverted pendulum is mounted are loosely
coupled by chains. They have to cooperate and reach a state in which
all pendulums are balanced. The non-linear up-swinging phase is
included.
Source code
The source code of the benachmark is short and simple:
CoupledPendulums.cpp CoupledPendulums.h
Records
| [# modules] |
[best fitness] |
[method] |
[cart trajectories] |
[pendulums angles] |
[video] |
|
1
|
0.977242
|
AHHS+noise
|
|
|
video
|
|
2
|
0.967382
|
AHHS
|
|
|
video
|
|
3
|
0.839127
|
AHHS+noise
|
|
|
video
|
|
4
|
0.824691
|
AHHS+noise
|
|
|
video
|
|
5
|
0.831669
|
AHHS+noise
|
|
|
video
|