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rl-bot's Introduction

Reinforcement learning for construction site robot

Docker Image CI

Robot that navigate through construction site using Q-learning written in python 3 powered by Pytorc and Robot operating system

How this work

                        +------------------------------------+
                        |           Infrastructure           |
                        +------------------------------------+
                        |               Host OS              |
                        +------------------------------------+
                        |                Docker              |
                        +-----------+------------+-----------+
                        |           |            |           |
                        |    ROS    |   Pytorch  |  RTABMAP  |
                        | Container |  Container | Container |
                        |           |            |           |
                        +-----------+------------+-----------+

Docker image contain Robot Operating System (ROS) and Machine Learning framework such as TensorFlow, Pytorch, Keras, etc. You can switch whatever framework you like.

Hardware

  • Raspberry Pi 3 Model B with Raspbian image SD card
  • RGB-D or Stereo image Camera (Microsoft Kinect is highly recommended)
  • Smart Robot Car kit
  • Arduino UNO R3

How to assemble robot

Please check wiki page

Prerequisite

You can choose to install it manually or use a script

  • Docker CE for Raspberry Pi
  • MeshLab
  • Python 3.6

Usage

copy & paste in terminal

wget https://raw.githubusercontent.com/kanokkorn/RL-bot/master/run.sh && sudo chmod +x run.sh && ./run.sh

or clone this repository

This script is design to work with Raspberry Pi only.

sudo run.sh
  • If the setup is done or you have your own setup then run this command
sudo docker-compose up

License

This project is under BSD license

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