Project for ENPM808F: Exploration of a Bounded Area using Q Learning

Author1- Amrish Baskaran

Author2- Bala Murali Manoghar Sai Sudhakar

Install dependencies-

• Ubuntu 16.04
• ROS Kinetic
• Python 2.7 (ROS comes with it)
• git

Instructions

• Follow the steps to add the ROS package to catkin workspace

1. Follow the steps in the link to create a catkin workspace. http://wiki.ros.org/catkin/Tutorials/create_a_workspace

2. Clone the package

git clone https://github.com/bsaisudh/qLearningTurtlebot

3. Use catkin_make to make the package in the catkin workspace

cd ~/catkin_ws/
catkin build

or use

catkin_make

4. Run the following command to make the python executable

cd ~/catkin_ws/
chmod -x src/qLearningTurtlebot/src/trainingMode.py
chmod -x src/qLearningTurtlebot/src/gameMode.py

5. Run the following command to update bash

source devel/setup.bash

Running Instructions

1. Run the following command will launch the training processs for the corresponding map

• Maze 1

roslaunch qLearningTurtlebot trainMaze1.launch

• Maze 2

roslaunch qLearningTurtlebot trainMaze2.launch

• Maze 3

roslaunch qLearningTurtlebot trainMaze3.launch

2. To run the game on the fulling trained q-Table

• Maze 1

roslaunch qLearningTurtlebot gameMaze1.launch

• Maze 2

roslaunch qLearningTurtlebot gameMaze2.launch

• Maze 3

roslaunch qLearningTurtlebot gameMaze3.launch