schmittlema / uav-nav Goto Github PK

+1 for agent step
-1 for backup controller
-2 for crash
0 for local min

Also just double check the reset procedure to make sure it is not recording resets as crashes.

1. Change environment in launchfile ~
2. modify network
3. change reward function
4. find and set reset
5. helper function for heading changes
6. modify steps
7. Clean repo ~

-dictionary all lines of trees by there binned y value. For each value store as a tuple of start and end x values.

-From curr position lookup the next draw line in the dictionary and see if it is in forest via startx & endx.

-If not draw normally but clip the ends so they do not overlap with ones in list
if less than end & greater than start:
if it is the draw-start:
//it means it is right of the trees
change draw-start to end + gap (to prevent overlap)
else if it is the draw-end:
//it means it is left of the trees
change draw-end to start - gap (to prevent overlap)