RL_AUV_tracking

A project for my major related graduation paper.

Using reinforcement learning(RL) to train an agent to tracking the target in the unknown underwater scenario in HoloOcean.

Quick Start

To run the simulation, first install all dependencies

• HoloOcean==1.0.0
• Stable Baseline3
• pynput
• bezier
• filterpy
• inekf
• scipy
• sb3-contrib
• seaborn
• shapely

if you want to run in my scenario,I give the scenario link below: https://drive.google.com/drive/folders/1MdT8NMozJARde7zL5kKebBi4WULfv2KC?usp=drive_link

you should copy the folder into /home/'yourname'/.local/share/holoocean/0.5.0/worlds/

Then simply run the script

python SB3_learning.py --env TargetTracking1 --map TestMap_AUV --nb_envs 5 --choice 0 --render 0 

choice:(0:train 1:keep training 2:eval)

render:(0:false 1:true)

Simulation Process

Additional information

If you want to know more details,you should read the code. :smile:

Or please keep staying tuning!

Something mentioned

Just for single target, mutitarget task needs revise the code

(revise the target0 -> target+str(rank))