# 基于深度强化学习的移动机器人避障导航
### 要求
python 3.5
Tensorflow 1.14.0
ROS Melodic
### 使用步骤
因为有未知问题,需要把小车在gazebo中的启动,与tesorflow强化学习分开成两个文件夹,合在一起会报错
##### 1.创建虚拟环境 NDDDQN
##### 2.安装tensorflow
```
pip install tensorflow-gpu==1.14.0 -i https://pypi.tuna.tsinghua.edu.cn/simple
```
##### 3.在两个工作空间进行编译
在catkin_ws和catkin_ws1分别编译:
```
catkin_make --cmake-args \
-DCMAKE_BUILD_TYPE=Release \
-DPYTHON_EXECUTABLE=/usr/bin/python3 \
-DPYTHON_INCLUDE_DIR=/usr/include/python3.6m \
-DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
```
##### 4.运行
首先在运行小车的catkin_ws1文件夹中:
```
cd catkin_ws1
source devel/setup.sh
roslaunch pioneer_utils xxx
```
xxx对应运行环境:
```
bizhang.launch 静态避障
daohang.launch 静态导航
dongtai.launch 动态导航
keyboard_teleop.launch 键盘控制
```
然后在运行强化学习的文件夹catkin_ws中:
```
conda activate NDDDQN
cd catkin_ws
source devel/setup.sh
cd src/Tensorflow/xxx
python main.py
```
xxx对应运行算法:
```
DQN-bizhang 静态避障-DQN
DDQN-bizhang 静态避障-DDQN
DQN-Dueling-bizhang 静态避障-Dueling-DQN
DDQN-Dueling-bizhang 静态避障-Dueling-DDQN
NDDQN-Dueling-bizhang 静态避障-Dueling-NDDQN
Beta-DDQN-Dueling-bizhang 静态避障-Beta-Dueling-DDQN
Empty-Navigation 静态导航-Dueling-NDDQN
separate-Empty-Navigation 静态导航-separate-Dueling-NDDQN
Navigation-DDQN 静态导航-DDQN
people-Navigation 动态导航-Dueling-NDDQN
```
##### 5.可能出现的问题
###### (1)安装的库不足
解决方法:
```
sudo apt update
sudo apt install python3-catkin-pkg-modules python3-rospkg-modules python3-empy
sudo apt-get install ros-kinetic-cmake-modules
```
###### (2)dynamic module does not define module export function (PyInit tf2)
解决方法:见https://blog.csdn.net/weixin_42044401/article/details/111246979
###### (3) Could not dlopen library 'libcudnn.so.x(x为数字)
解决方法:cuda版本和cudnn版本要和显卡驱动版本以及TensorFlow版本对应
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基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明
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基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明【资源说明】 1、该资源包括项目的全部源码,下载可以直接使用! 2、本项目适合作为计算机、数学、电子信息等专业的课程设计、期末大作业和毕设项目,作为参考资料学习借鉴。 3、本资源作为“参考资料”如果需要实现其他功能,需要能看懂代码,并且热爱钻研,自行调试。 基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明基于深度强化学习ROS+tensorflow不同算法的移动机器人导航避障源码+运行说明基于深度强化学习ROS+tensorflow不同算法
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