Autonomous-Drifting
Autonomous Drifting using Reinforcement Learning
Installation
- sudo ./setup_env.sh
- cd fyp_ws
- catkin_make
- . devel/setup.bash (add
source [full path to setup.bash]in your .bashrc) - roscd drift_car_env/scripts/
- sudo pip install -e .
- roscd drift_car/scripts/rl
- sudo pip install -r requirements.txt
The first time you open Gazebo, it will download all models from the Gazebo servers, which may take some time. Run rosrun gazebo_ros gazebo to run Gazebo and install models.
Commands
| To run | Command |
|---|---|
| ROS Core | roscore |
| Gazebo Simulator | roslaunch drift_car_gazebo drift_car.launch |
| Controller | roslaunch drift_car_gazebo_control drift_car_control.launch |
| Keyboard Teleop | rosrun drift_car_gazebo_control teleop_gazebo.py |
| Joystick Gazebo Controller | rosrun drift_car_gazebo_control joystick_gazebo.py |
| Joystick Car Controller | rosrun drift_car_gazebo_control joystick_car.py |
| Double Dueling Deep Q-Network | rosrun drift_car main.py |
PILCO
- Install MATLAB, enabled with Robotics System Toolbox.
- Add src/drift_car/scripts/rl/modules and src/drift_car/scripts/rl/pilco to MATLAB path.
- Start the bridge library with
rosrun drift_car_env matlab_bridge.py. - To train -
drift_car_learn. - To apply learned controller -
applyController.
Car Model
To run using the Monster Truck, rosed drift_car_gazebo drift_car.launch and toggle the comments to load truck.xacro.urdf.
-
# Awesome Autonomous Vehicles: A curated list of awesome autonomous vehicles resources, inspired by awesome-php. Contributing Please feel free to send me pull requests to add links. Table of Contents
-
The past few years have seen active development in autonomous driving by organisations and academia. One of the standard practices in autonomous driving is developing and validating prototypes of driv
-
自动驾驶系统是一种通过使用传感器、计算机视觉技术、机器学习算法等技术，使汽车在没有人类驾驶员干预的情况下自动驾驶的系统。它可以帮助驾驶员减轻疲劳，提高驾驶安全性，同时还可以实现更高效的交通流量管理。目前，自动驾驶技术仍在不断提高和完善中，未来可望普及应用于个人交通和商业运输领域。
-
Augmented autonomous driving simulation using data-driven algorithms ——增强现实自动驾驶仿真系 #百度增强现实自动驾驶仿真系统登上 Science 子刊 https://zhuanlan.zhihu.com/p/60798022 https://www.xianjichina.com/special/detail_392726.