This repository contains codes to run a Reinforcement Learning based navigation.
There are three algorithms provided which are Q-Learning, SARSA, and DQN. A Turtlebot3 mobile robot platform was used to train and test these algorithms.
If you have found this repository useful or have used this repository in any of your scientific work, please consider citing my work using this BibTeX Citation. A full demonstration video of the mobile robot navigation has been uploaded on Youtube.
catkin_make
and sourced with source devel/setup.bash
. The compile process should return no error if all the dependencies are met. my_turtlebot3_training - This folder contains files for the robot to run Deep Q-Network, Q-Learning, and Sarsa algorithm for training and testing.
openai_projects - This folder ontains the RL trained models and logged data during training and testing.
openai_ros - This folder contains files for setting up the RL environment.
turtlebot3 - This folder contains the Gazebo simulation launch files, models, and worlds.
turtlebot3_rl - This folder contains the codes for deploying Deep Q-Network, Q-Learning, and Sarsa algorithm in the real environment with the physical Turtlebot3.
Simulation training
roslaunch my_turtlebot3_training start_dqlearn_training.launch
in your terminal.Simulation testing
roslaunch my_turtlebot3_training start_dqlearn_testing.launch
in your terminal.Real world testing (deployment)
Physical deployment requires the Turtlebot3 itself and a remote PC to run.
On the Turtlebot3:
roslaunch turtlebot3_bringup turtlebot3_robot.launch
On the remote PC:
roscore
roslaunch turtlebot3_bringup turtlebot3_remote.launch
roslaunch turtlebot3_rl deploy_turtlebot3.launch
Software
Computer Specifications
Mobile Robot Platform
If you have used this repository in any of your scientific work, please consider citing my work:
@inproceedings{anas2022comparison,
title={Comparison of Deep Q-Learning, Q-Learning and SARSA Reinforced Learning for Robot Local Navigation},
author={Anas, Hafiq and Ong, Wee Hong and Malik, Owais Ahmed},
booktitle={International Conference on Robot Intelligence Technology and Applications},
pages={443--454},
year={2022},
organization={Springer}
}