Designing a Robust Low-Level Agnostic Controller for a Quadrotor with
Actor-Critic Reinforcement Learning
- URL: http://arxiv.org/abs/2210.02964v1
- Date: Thu, 6 Oct 2022 14:58:19 GMT
- Title: Designing a Robust Low-Level Agnostic Controller for a Quadrotor with
Actor-Critic Reinforcement Learning
- Authors: Guilherme Siqueira Eduardo and Wouter Caarls
- Abstract summary: We introduce domain randomization during the training phase of a low-level waypoint guidance controller based on Soft Actor-Critic.
We show that, by introducing a certain degree of uncertainty in quadrotor dynamics during training, we can obtain a controller that is capable to perform the proposed task using a larger variation of quadrotor parameters.
- Score: 0.38073142980732994
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Purpose: Real-life applications using quadrotors introduce a number of
disturbances and time-varying properties that pose a challenge to flight
controllers. We observed that, when a quadrotor is tasked with picking up and
dropping a payload, traditional PID and RL-based controllers found in
literature struggle to maintain flight after the vehicle changes its dynamics
due to interaction with this external object.
Methods: In this work, we introduce domain randomization during the training
phase of a low-level waypoint guidance controller based on Soft Actor-Critic.
The resulting controller is evaluated on the proposed payload pick up and drop
task with added disturbances that emulate real-life operation of the vehicle.
Results & Conclusion: We show that, by introducing a certain degree of
uncertainty in quadrotor dynamics during training, we can obtain a controller
that is capable to perform the proposed task using a larger variation of
quadrotor parameters. Additionally, the RL-based controller outperforms a
traditional positional PID controller with optimized gains in this task, while
remaining agnostic to different simulation parameters.
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