Video: Bilibili
Paper: DRL-based Path Planner and its Application in Real Quadrotor with LIDAR
Cite:
@article{yang2023drl,
title={DRL-based Path Planner and its Application in Real Quadrotor with LIDAR},
author={Yang, Yongsheng and Hou, Zhiwei and Chen, Hongbo and Lu, Peng},
journal={Journal of Intelligent \& Robotic Systems},
volume={107},
number={3},
pages={38},
year={2023},
publisher={Springer}
}
- complete paper
- improve documentation
| interface | version |
|---|---|
| ubuntu | 18.04 |
| ros | melodic |
| pytorch | 1.4.0 |
ROS melodic
refer to here
Gazebo 9
sudo apt install ros-melodic-gazebo-*
download models.zip and unpack under ~/.gazebo/.
Mavros
sudo apt install ros-melodic-mavros ros-melodic-mavros-extras
wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh
sudo chmod a+x ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh
PX4
git clone https://github.com/PX4/PX4-Autopilot.git
mv PX4-Autopilot PX4_Firmware
cd PX4_Firmware
git checkout -b xtdrone/dev v1.11.0-beta1
git submodule update --init --recursive
make px4_sitl_default gazebo
open ~/.bashrc, and insert
source ~/catkin_ws/devel/setup.bash
source ~/PX4_Firmware/Tools/setup_gazebo.bash ~/PX4_Firmware/ ~/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4_Firmware/Tools/sitl_gazebo
QGroundControl
refer to here
Anaconda
refer to here
virtual environment
create env
conda create -n my_env python=2.7
conda activate my_env
update pip
pip install --upgrade pip
install dependence
pip install requirements.txt
Building pkg
create workspace
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
catkin_init_workspace
Download this project and put it into src.
cd ..
catkin_make
copy models falco/imu_gazebo/UST_10LX to ~/PX4_Firmware/Tools/sitl_gazebo/models.
Run Samples
# open gazebo
roslaunch multi_rotor_avoidance_rl setup_env.launch
open QGroundControl load models/falco/params/sim.param.
# start task
rosrun multi_rotor_avoidance_rl training_node.py
# rosrun multi_rotor_avoidance_rl testing_node.py