2010/11/30
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.
The source code of the benachmark is short and simple:
CoupledPendulums.cpp CoupledPendulums.h
[# modules] | [best fitness] | [method] | [cart trajectories] | [pendulums angles] | [video] |
1 | 0.977242 | AHHS+noise | ![]() |
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video |
2 | 0.967382 | AHHS | ![]() |
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video |
3 | 0.839127 | AHHS+noise | ![]() |
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video |
4 | 0.824691 | AHHS+noise | ![]() |
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video |
5 | 0.831669 | AHHS+noise | ![]() |
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video |