Closed jc-bao closed 1 year ago
Objective: check if the attitude + thrust control is working.
Learning Curve: compared with thrust+torque control, the policy does not converge at all.
Learned strategy: also tends to hit the boundary of the flying space.
Check random explore policy: the drone tends to hit the upper boundary & the object moves really quickly. ▶️ Make the thrust smaller + remove object observation. 😢 The result is the same, not the issue.
Error dynamics cause the problem in the multi-drone case. Be careful with a GPU-based environment during the tensor operation!
The newly designed quadrotor transportation case cannot hover at a fixed point.
Learned policy
The policy tends to hit the boundary of flying space.
Learning curve
It cannot converge after a long time of training.
Check with PID
The PID controller can track the center point very precisely.![pid_attitude_thrust](https://user-images.githubusercontent.com/60093981/221327869-cf5ebf9b-8e45-41e1-b05a-c3fde1fe8cb4.gif)