Journal of Korea Multimedia Society (한국멀티미디어학회논문지)

Korea Multimedia Society (한국멀티미디어학회)
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Hovering Control of 1-Axial Drone with Reinforcement Learning

강화학습을 이용한 1축 드론 수평 제어

  • Lee, Taewoo (Dept. of Software Engineering, Sangmyung University) ;
  • Ryu, Jinhoo (Dept. of Software Engineering, Sangmyung University) ;
  • Park, Heemin (Dept. of Software, Sangmyung University)
  • Received : 2018.01.12
  • Accepted : 2018.02.01
  • Published : 2018.02.28
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Abstract

In order to control the quadcopter using reinforcement learning, hovering of 1-axial drones prototype is implemented through reinforcement learning. A complementary filter is used to measure the correct angle, and the range of angles is from -180 degrees to +180 degrees using modified complementary filter. The policy gradient method is used together with the REINFORCE algorithm for reinforcement learning. The prototype learned in this way confirmed the difference in performance depending on the length of the episode.

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References

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