한국멀티미디어학회논문지 (Journal of Korea Multimedia Society)

  • 제21권2호
  • /
  • Pages.250-260
  • /
  • 2018
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  • 1229-7771(pISSN)
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  • 2384-0102(eISSN)
한국멀티미디어학회 (Korea Multimedia Society)
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강화학습을 이용한 1축 드론 수평 제어

Hovering Control of 1-Axial Drone with Reinforcement Learning

  • Lee, Taewoo (Dept. of Software Engineering, Sangmyung University) ;
  • Ryu, Jinhoo (Dept. of Software Engineering, Sangmyung University) ;
  • Park, Heemin (Dept. of Software, Sangmyung University)
  • 투고 : 2018.01.12
  • 심사 : 2018.02.01
  • 발행 : 2018.02.28
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초록

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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참고문헌

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