/auv_path_following

Primary LanguageCMake

AUV Path Following using DQN based controller

Build on the UUV Simulator - https://github.com/uuvsimulator/uuv_simulator

Requirements & Installation

  1. Ubuntu machine, version 18.04
  2. Python version 2.7
  3. ROS Melodic 1.14 (http://wiki.ros.org/melodic/Installation/Ubuntu)
  4. Gazebo 9
  5. Torch 1.4.0

Instruction for running

  1. Clone https://github.com/div5252/auv_path_following and https://github.com/div5252/uuv_simulator in src folder of catkin workspace.
  2. Build catkin workspace.
catkin init
catkin build
source devel/setup.bash
  1. For running RL controller -
cd src/auv_path_following/rl_controller
bash run.sh

Features

  • PID (Proportional-Integral-Derivative) based controller
  • DQN (Deep Q-Network) based controller
  • Addition of current velocity
  • Noise in IMU and DVL sensor measurements
  • Plot of AUV's path

Demonstration

The video demonstration of the controllers can be seen here.