- Mobile robot navigation - the mobile robot contains ultrasonic sensors, IMU and two DC motors. Number of ultrasonic sensors depends on task type. The task of this agent is to navigate from position A to position B. Two groups of environment variants can be specified:
Static obstacles:
Environment | Description |
---|---|
RoomNavigation | Position is obtained from simulation engine. Collision is detected with ultrasonic sensors |
RoomVisionIdealNavigation | Position is obtained from simulation engine. Collision is detected with camera sensor and ultrasonic sensors |
RoomOdometryNavigation | Position is obtained from encoders ticks. Collision is detected with ultrasonic sensors |
RoomGyrodometryNavigation | Position is obtained from encoders ticks and gyroscope. Collision is detected with ultrasonic sensors |
Dynamic obstacles:
Environment | Description |
---|---|
DynamicRoomNavigation | Position is obtained from simulation engine. Collision is detected with ultrasonic sensors. Moving robots in environment as dynamic obstacles. |
DynamicVisionRoomNavigation | Position is obtained from simulation engine. Collision is detected with camera sensor and ultrasonic sensors. Moving robots in environment as dynamic obstacles. |
Action space are desired motor angular velocities in rad/s. They are limited to (0, 15.0)[rad/s].
Environment state space description:
Classic envs: | Vision envs: |
---|---|
distances from n proximity sensors | distances from n proximity sensors |
polar coordinates | polar coordinates |
linear and angular velocities | image from camera sensor |
linear and angular velocities |
Basic requirements:
- CoppeliaSim 4.1.0+
- Python 3.6+
- Ubuntu 20.04
- OpenAI gym
- PyRep
git clone https://github.com/Souphis/gym-vrep.git
cd gym-vrep
python3 setup.py install