Autonomous UAV Navigation without Collision using Visual Information in Airsim
Quadrotor Self-Flight using Depth image
It is a capstone project for undergraduate course. It did work when I tried, but there were many trial and errors. I'm sorry that I didn't consider any reproducibility (e.g. random seed).
Execute the environment first. If you can see the rendered simulation, then run what you want to try (e.g. python td3_per.py)
Unreal Engine 4
Respawn at the start position, and then take off and hover.
It takes about 1 sec.
Given action as 3 real value, process moveByVelocity() for 0.5 sec.
For delay caused by computing network, pause Simulation after 0.5 sec.
If a collision occurs, including landing, it would be dead. If x coordinate value is smaller than -0.5, it would be dead. If it gets to the final goal, the episode would be done.
Discrete Action Space (Action size = 7)
Using interpret_action(), choose +/-1 along one axis among x, y, z or hovering.
Continuous Action Space (Actions size = 3)
3 real values for each axis. I decided the scale as 1.5 and gave a bonus for y axis +0.5.
(e.g. The faster go forward, The more reward is given. The faster go backward, The more penalty is given.)