π« A goal-driven mapless end-to-end autonomous navigation of unmanned grounded vehicle (UGV) realized through Transformer-enabled deep reinforcement learning (DRL) algorithm.
π A car-like mobile robot learns to autonomously navigate to a random goal position only through raw RGB images from one Fisheye camera and goal information in polar coordination system.
π§ Realized in ROS Gazebo simulator with Ubuntu 20.04, ROS noetic, and Pytorch.
If you find this repository useful for your research, please consider starring β our repo and citing our paper.
@ARTICLE{huang2023goal,
author={Huang, Wenhui and Zhou, Yanxin and He, Xiangkun and Lv, Chen},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Goal-Guided Transformer-Enabled Reinforcement Learning for Efficient Autonomous Navigation},
year={2023},
volume={},
number={},
pages={1-14},
doi={10.1109/TITS.2023.3312453}}
Click the gif to zoom in π
π GTRL Sim-to-Real Navigation Experiment Video π
1οΈβ£ ROS Noetic
2οΈβ£ Gazebo
3οΈβ£ Pytorch
Specify your own name for the virtual environment, e.g., gtrl:
conda create -n gtrl python=3.7
conda activate gtrl
pip install numpy tqdm natsort cpprb matplotlib einops squaternion opencv-python rospkg rosnumpy yaml
sudo apt install python3-catkin-tools python3-osrf-pycommon
sudo apt-get install ros-noetic-cv-bridge
conda install spyder==5.2.2
cd to your workspace and clone the repo.
git clone https://github.com/OscarHuangWind/DRL-Transformer-SimtoReal-Navigation.git
cd ~/$your workspace/DRL-Transformer-SimtoReal-Navigation/catkin_ws
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
export GAZEBO_RESOURCE_PATH=~/$your workspace/DRL-Transformer-SimtoReal-Navigation/catkin_ws/src/gtrl/launch
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib
Alternatively, you can select to write these variables to the ~/.bashrc file so that it can be automatically set when opening terminal.
source devel/setup.bash
Copy all the files under models folder to your default gazebo models folder.
cp -a ~/$your workspace/DRL-Transformer-SimtoReal-Navigation/catkin_ws/src/gtrl/models/. ~/.gazebo/models
main.py
import sys
sys.path.append('/home/$your workspace/DRL-Transformer-SimtoReal-Navigation/catkin_ws/src/gtrl/scripts')
env_lab.py (line 129)
fullpath = os.path.join('/home/$your workspace/DRL-Transformer-SimtoReal-Navigation/catkin_ws/src/drl_navigation/launch', launchfile)
cd ~/$your workspace/DRL-Transformer-SimtoReal-Navigation/catkin_ws/src/gtrl/scripts/SAC
Run it in the terminal:
python main.py
(Optional) Alternatively, if you have already installed spyder, just click the run file button in spyder.
killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient python python3
Alternatively, you can add alias of these commands to the ~/.bashrc file:
alias k9='killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient python python3'
And type the alias in the terminal to kill all the process:
k9
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