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The project was an academic assignment to implement a self driving car using a model of basic artificial neural network

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adityamatt/ANN-implementation-of-self-driving-cars

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Platform Used

Ubuntu 16.04

Requirements

Python 2

Library Used:

matplotlib pickle numpy opencv (This is optional if need to construct the dataset)

To install libraries if missing,I use pip

sudo apt-get install python-pip 

Numpy

sudo pip install numpy

Matplotlib

sudo pip install matplotlib

pickle

sudo pip install opencv

Dataset Details

I have converted the dataset of images (read opencv library) to randomized data set and pickled it which is a 549 mb file You may download it from: https://drive.google.com/file/d/15jpYFUBDXY9sOXI_mRkIIpQk6RYtMJmy/view?usp=sharing and paste it in the folder of code

To reconstruct the dataset from scratch: uncomment the lines:11-13 in main.py
1 in Utility.py

Experiments

I have stored the outputs of all experiments as pickled file in a folder stored_experiments

To reconstruct the graphs:

python graph.py <experiment_no.>

e.g

    python graph.py 1  
    python graph.py 2  
    python graph.py 3  
    python graph.py 4  

To reconstruct the experiment:

python main.py <iteration> <batch_size> <learning_rate>(optional)  

for experiment 1:

python main.py 5000 64 0.01  

for experiment 2:

python main.py 1000 32 0.01  
python main.py 1000 64 0.01  
python main.py 1000 128 0.01  

for experiment 3:

python main.py 1000 64 0.001 0.5  

for experiment 4:

python main.py 1000 64 0.05  
python main.py 1000 64 0.005  
python main.py 1000 64 0.001  
Note: All these experiments take time  
    When done on Lab computers(with 8 cores) each epoch took aroudn 30 seconds  
Each experiment when ends creates two pickled file(of small kbs) with name format 
"Training_Epoch"+str(iteration)+"_batch_size"+str(mini_batch_size)+"_alpha"+str(learning_rate)  
"Test_Epoch"+str(iteration)+"_batch_size"+str(mini_batch_size)+"_alpha"+str(learning_rate) 

Paste the files in the stored_experiments folder before running graph.py

Query

Contact: [email protected] (Valid till 2020)
[email protected]
github.com/adityamatt

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The project was an academic assignment to implement a self driving car using a model of basic artificial neural network

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