Browsing by Author "Pi, Chen-Huan"

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Low-level autonomous control and tracking of quadrotor using reinforcement learning
(2020-02-01)
Pi, Chen-Huan
;
Hu, Kai-Chun
;
Cheng, Stone
;
Wu, I-Chen
;
機械工程學系
This paper proposes a low-level quadrotor control algorithm using neural networks with model-free reinforcement learning, then explores the algorithm's capabilities on quadrotor hover and tracking tasks. We provide a new point of view by examining the well-known policy gradient algorithm from reinforcement learning, then relaxing its requirements to improve training efficiency. Without requiring expert demonstrations, the improved algorithm is then applied to train a quadrotor controller with its output directly mapped to four actuators in a simulator, which is a technique used to control any linear or nonlinear system under unknown dynamic parameters and disturbances. We show two experimental tasks both in simulation and real-world quadrotors to verify our method and demonstrate performance: 1) hovering at a fixed position, and 2) tracking along a specific trajectory.