This repository contains the code and simulation environments for the paper "Parallel Deep Reinforcement Learning for Hybrid Mobile Robots," which introduces a parallel deep reinforcement learning methodology for mapless navigation of Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs).
We present a novel parallel deep reinforcement learning framework that significantly improves the autonomous navigation, obstacle avoidance, and medium transition capabilities of HUAUVs in simulated air and water environments. By leveraging the parallelization of learning agents, we demonstrate enhanced learning effectiveness and a reduction in required training time.
LOGS
: Directory for log files generated during training and evaluation.Parallel-Hydrone-DRL
: Source code for the parallel deep reinforcement learning algorithm.evaluation
: Evaluation scripts and utilities to assess HUAUV navigation performance.gym_hydrone
: Custom Gym environment for HUAUV simulation.models
: Trained model files and configuration for the reinforcement learning agents.
Please ensure that you have installed all dependencies as listed in Parallel-Hydrone-DRL/requirements.txt
.
To train the models using our parallel deep reinforcement learning framework:
python3 Parallel-Hydrone-DRL/train.py
For evaluation of the trained models:
python3 evaluation/evaluate.py
All simulations were performed in the Gazebo simulator, enhanced with RotorS and UUVSim plugins for realistic aerial and underwater dynamics.
A-W PD-RL | W-A PD-RL |
A-W PS-RL | W-A PS-RL |
If you use our methodology or this codebase in your work, please cite:
TODO: Add BibTeX entry for the paper.
This project is licensed under the MIT License - see the LICENSE file for details.
Our thanks to the contributors and institutions that supported the research and development of this project:
- Ricardo B. Grando
- Raul Steinmetz
- Junior D. Jesus
- Victor A. Kich
- Alisson H. Kolling
- Rodrigo S. Guerra
- Paulo L. J. Drews-Jr
- Robotics and AI Lab, Technological University of Uruguay
- Centro de Ciencias Computacionais, Universidade Federal do Rio Grande - FURG
- Centro de Tecnologia, Universidade Federal de Santa Maria - UFSM
- Intelligent Robot Laboratory, University of Tsukuba
For any inquiries, please contact us at ricardo.bedin@utec.edu.uy
.