https://github.com/sezan92/self_balancing_robot

https://github.com/sezan92/self_balancing_robot

Last synced: 3 months ago
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• Host: GitHub
• URL: https://github.com/sezan92/self_balancing_robot
• Owner: sezan92
• Created: 2017-07-22T10:58:49.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2018-07-29T03:35:45.000Z (over 6 years ago)
• Last Synced: 2024-07-16T13:06:23.699Z (4 months ago)
• Language: Jupyter Notebook
• Size: 23.5 MB
• Stars: 86
• Watchers: 6
• Forks: 32
• Open Issues: 2
• Metadata Files:
  • Readme: README.md

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README

        
## Self Balancing Robot Simulation using ROS and Gazebo

![Model Picture](GazeboModel.png)

### Paper

[DOI link](https://aip.scitation.org/doi/10.1063/1.5044373)

 

### Video 

The youtube link of videos are given in the notebook files. They can be accessed from [PID](https://www.youtube.com/watch?v=kssD8unnWls), [Fuzzy](https://www.youtube.com/watch?v=FoG59xl2c9I) and [LQR](https://www.youtube.com/watch?v=QmrRNw043dY) respectively.

In this project I have build a Self Balancing Robot Simulation in Gazebo.

The files are structured as following

### Notebook Folder

It has two jupyter notebook files . One contains the Description of Robot Model development named ```Self Balancing Robot.ipynb``` . The ```Controllers.ipynb``` describes the testing of the controllers, with Videos.

#### Video 

The video folder inside the notebook folder contains the videos of the project

### Src Folder

The $Src$ folder contains the source codes for the project. The file ```SelfBalance.py``` shows PID, ```SelfBalance_withFuzzy.py``` shows the Fuzzy P controller implementation and ```SelfBalance_withLQR.py``` shows the LQR implementation.

### Launch Folder

The launch folder contains the launch files

First download the github repository in your catkin workspace, and compile the project by writing catkin_make in the terminal. 

Then cd to the src folder of repository and write in the terminal ``` chmod +x *.py"```

Then for PID 

```

roslaunch self_balancing_robot main.launch

```

For Fuzzy Controller

```

roslaunch self_balancing_robot main_Fuzzy.launch

```

For LQR Controller

```

roslaunch self_balancing_robot main_LQR.launch

```

For any feedbacks and or suggestions , please contact [email protected]

### Update 29 July 2018

#### DQN

For Deep Q Network control

```roslaunch self_balancing_robot main_no_control.launch```

For running the code of DQN, go to ```Notebook/SelfBalanceDeepRLQ.ipynb``` and run

#### Paper link

Paper [link](https://arxiv.org/pdf/1807.08272.pdf)

#### Video

[Video link](https://www.youtube.com/watch?v=OU7jb2B4L-c&t=712s)