PyFlyt：強化学習研究のためのUAVシミュレーション環境
PyFlyt -- UAV Simulation Environments for Reinforcement Learning Research
Bullet物理エンジンとGymnasium APIを用いたUAV向け強化学習環境PyFlytを提案し、クアッドローターと固定翼の制御タスクでその有効性を示した。
著者: Jun Jet Tai, Jim Wong, Mauro Innocente, Nadjim Horri, James Brusey, Swee King Phang
分類: cs.RO
原文アブストラクト
Unmanned aerial vehicles (UAVs) have numerous applications, but their efficient and optimal flight can be a challenge. Reinforcement Learning (RL) has emerged as a promising approach to address this challenge, yet there is no standardized library for testing and benchmarking RL algorithms on UAVs. In this paper, we introduce PyFlyt, a platform built on the Bullet physics engine with native Gymnasium API support. PyFlyt provides modular implementations of simple components, such as motors and lifting surfaces, allowing for the implementation of UAVs of arbitrary configurations. Additionally, PyFlyt includes various task definitions and multiple reward function settings for each vehicle type. We demonstrate the effectiveness of PyFlyt by training various RL agents for two UAV models: quadrotor and fixed-wing. Our findings highlight the effectiveness of RL in UAV control and planning, and further show that it is possible to train agents in sparse reward settings for UAVs. PyFlyt fills a gap in existing literature by providing a flexible and standardised platform for testing RL algorithms on UAVs. We believe that this will inspire more standardised research in this direction.