real-fov-pursuit

These repo is based off of gym-pybullet-drones.

SEE python learn_pursuit.py in Reinforcement learning examples.

Installation

[git clone https://github.com/utiasDSL/gym-pybullet-drones.git
](https://github.com/pl909/real-fov-pursuit.git)
cd gym-pybullet-drones/

conda create -n drones python=3.10
conda activate drones

pip3 install --upgrade pip
pip3 install -e . # if needed, `sudo apt install build-essential` to install `gcc` and build `pybullet`

Use

PID control examples

cd gym_pybullet_drones/examples/
python3 pid.py # position and velocity reference
python3 pid_velocity.py # desired velocity reference

Downwash effect example

cd gym_pybullet_drones/examples/
python3 downwash.py

Reinforcement learning examples (SB3's PPO)

cd gym_pybullet_drones/examples/
python learn.py # task: single drone hover at z == 1.0
python learn.py --multiagent true # task: 2-drone hover at z == 1.2 and 0.7
python learn_pursuit.py

cd gym_pybullet_drones/examples/
python3 cff-dsl.py

Betaflight SITL example (Ubuntu only)

git clone https://github.com/betaflight/betaflight 
cd betaflight/
git checkout cafe727 # `master` branch head at the time of writing (future release 4.5)
make arm_sdk_install # if needed, `apt install curl``
make TARGET=SITL # comment out line: https://github.com/betaflight/betaflight/blob/master/src/main/main.c#L52
cp ~/gym-pybullet-drones/gym_pybullet_drones/assets/eeprom.bin ~/betaflight/ # assuming both gym-pybullet-drones/ and betaflight/ were cloned in ~/
betaflight/obj/main/betaflight_SITL.elf

In another terminal, run the example

conda activate drones
cd gym_pybullet_drones/examples/
python3 beta.py --num_drones 1 # check the steps in the file's docstrings to use multiple drones

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> University of Toronto's [Dynamic Systems Lab](https://github.com/utiasDSL) / [Vector Institute](https://github.com/VectorInstitute) / University of Cambridge's [Prorok Lab](https://github.com/proroklab)