Drone racing in gym-pybullet-drones using reinforcement learning

• In this project, I use reinforcement learning PPO to control drone fly through gates in gym-pybullet-drones
• I refer paper Reaching the Limit in Autonomous Racing for the initial setting of reinforcement learning algorithm

25/09/2024 Initial result

• I do initial experiments to figure out that does RL setting work in Gym Pybullet Drones environment (Updating)
• My current result have difficulty to pass 3rd gate (terminal gate), you can change this constrain during training or testing to improve the outcome line. Many other factors need to tune to achieve better result.

Using CrazyFly(X type) with simple racing setting

How to use

• Follow author's guide to install gym-pybullet-drones environment
• Training python train_racing.py
• Test pretrained model python test_racing.py

References

• https://github.com/utiasDSL/gym-pybullet-drones/
• https://github.com/nikhilbarhate99/PPO-PyTorch
• Schulman, John, et al. "Proximal policy optimization algorithms." arXiv preprint arXiv:1707.06347 (2017).
• Song, Yunlong, et al. "Reaching the limit in autonomous racing: Optimal control versus reinforcement learning." Science Robotics 8.82 (2023): eadg1462.