Drone-RL

Setup

Fisrt set the gym environment by following steps

• cd Environments\DroneEnv
• pip install -e .

For training:

First start the simulator script:

• python simulator_script.py training_script_ip

Then start trianing algorithm:

• python gps_only.py simulator_ip
• python multiple_sensors.py simulator_ip

NOTE

The locations of some scripts are specified as per Windows+cygwin setup. Modify the paths as per you directory setup

• Gym environments use start_ardupilot.py
• Change the location of this script in the gym environments scoure file
• For simulator_script.py modify the paths to Airsim binary

Credits and References

• AirSim binaries can be downloaded from here
• Follow this link to setup ArduPilot
• Setup the SITL and then locate the arducopter.exe binary that is needed by the gym environments
• The Deep Deteminsitic Policy Gradient (DDPG) implementation is based on Tensorflow and Keras