sezan92 / self_balancing_robot Goto Github PK

DOI link

The youtube link of videos are given in the notebook files. They can be accessed from PID, Fuzzy and LQR respectively.

In this project I have build a Self Balancing Robot Simulation in Gazebo. The files are structured as following

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.

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

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.

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]

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

Video link