Again, to simplify the calculation, just round the result to obtain the discrete position within the array. For this, we will be using a simple race track. Just a slight serpentine of length 50 and total width of 34 as shown in the racetrack figure. The track should be of width 10. For example, see lisp array of track for a lisp array that designates this track where 0 indicates a position on the track and 1 indicates off of it.
Agents drive clockwise around the track.
The internal state of the agent will be captured by the values of the sensors. X is the agent. The values should be in a binary vector where the number indicates the index into the vector. For the effectors , the agent can change its direction and velocity by taking one of nine actions. The agent is not to exceed a speed of 15 or reduce speed below 1 at any time during the simulation.