mir100RL_ws

Greedy Algorithm

clear && roslaunch mall_robo_gym mir100_greedy_1.launch

Plot the testing result

Without obstacles (10 episodes)

With obstacles (10 episodes)

Reinforcement learning

Start the training

clear && roslaunch mall_robo_gym mir100_rl_1.launch

Test the training outcome

clear && roslaunch mall_robo_gym mir100_rl_test.launch

Path to change the time of controller_patience and planner_patience

cd ~/mir100RL_ws/src/mir_robot/mir_navigation/config/move_base_common_params.yaml

• controller_patience: 15.0 # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
• planner_patience: 5.0 # if the first planning attempt failed, abort planning retries after 5.0 s

Map of 3d environment (1435 m2)

• Length: 41 m
• Width: 35 m

Legend for waypoints in gazebo

• Blue sphere: those waypoints that have not been visited yet
• Green sphere: those waypoints that have been visited
• Red sphere: the waypoint that the robot is currently heading to

Plot the training result

Without obstacles (1000 episodes)

• The minimum time for the [mir100_rl_1] to complete the task is ？ seconds in episode <> with reward ()!
• Overall time of training: min
• Training time per episode: min

With obstacles (1000 episodes)

Plot the Q table

Without obstacles (1000 episodes)

With obstacles (1000 episodes)

Plot the testing result

Without obstacles (10 episodes)

With obstacles (10 episodes)