zyunfeii / uav_obstacle_avoiding_drl Goto Github PK

Hello sir,I was unable to run this please look into it sir Here I am attaching the images.please help sir as it was relating to my project.

Hi, this is a wonderful job!
But, i can't understand the meaning of row0, theta, sigma0. Great thanks if u reply this issue!

def getqNext(self, uavPos, obsCenter, vObs, row0, sigma0, theta, qBefore): u = self.initField(uavPos, self.V0, self.goal) repulsiveMatrix = self.calRepulsiveMatrix(uavPos, obsCenter, self.obsR, row0) tangentialMatrix = self.calTangentialMatrix(uavPos, obsCenter, self.obsR, theta, sigma0) T = self.calculateT(obsCenter, uavPos, self.obsR) vp = np.exp(-T / self.lam) * vObs M = np.eye(3) + repulsiveMatrix + tangentialMatrix ubar = (M.dot(u - vp.reshape(-1, 1)).T + vp.reshape(1, -1)).squeeze() # 限制ubar的模长，避免进入障碍内部后轨迹突变 if self.calVecLen(ubar) > 5: ubar = ubar/self.calVecLen(ubar)*5 if qBefore[0] is None: uavNextPos = uavPos + ubar * self.stepSize else: uavNextPos = uavPos + ubar * self.stepSize _, _, _, _, qNext = self.kinematicConstrant(uavPos, qBefore, uavNextPos) return uavNextPos

我想請教一下，如果我把DDPG想改成二維的路徑規劃，並且全部程式都是用matlab執行，請問應該要怎麼改呢? 謝謝
因為我使用了python，但目前遇到許多問題，已經沒有時間慢慢調整。所以打算使用matlab較為簡單地處理