| ▲ | Simulating a 2D Quadcopter from Scratch(mrandri19.github.io) |
| 18 points by daww 2 days ago | 8 comments |
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| ▲ | daww 2 days ago | parent | next [-] |
| Author here. I've spent the last six months replicating the paper "Champion-level drone racing using deep reinforcement learning" and now I'm writing down the blog posts I wish I had along the way. Any feedback is welcome, especially as I'm a bit unsure if I struck the right balance between being concise and not requiring too many prerequisites. Also if you're working on RL and robotics (especially aerial), let's connect! |
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| ▲ | avidiax 3 hours ago | parent | next [-] | | I assume you are going to start introducing all the 2nd and 3rd order effects? One big one is ground effect, and another is vortex ring state/settling with power and the related translational lift, and the props themselves have p-factor and the dirty air effect for the rear props. | | |
| ▲ | quibono 39 minutes ago | parent [-] | | Are there any resources you know of on modelling ground effect? I’m curious how this would change the dynamics from the post. |
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| ▲ | dvh 3 hours ago | parent | prev [-] | | Isn't it just bi-copter? | | |
| ▲ | palata 2 hours ago | parent [-] | | No, it's a quadcopter setup, but simulated in a 2D world (I guess for simplicity). A bi-copter would require tiltrotors, which is different. | | |
| ▲ | echoangle an hour ago | parent [-] | | In 2D, a bi-rotor is equivalent to the quadcopter in the post. There are 2 thrusts you control to guide the thing. |
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| ▲ | kabir_daki 3 hours ago | parent | prev [-] |
| Physics simulations from scratch are great learning projects.
Did you implement your own PID controller for stabilization?
That's usually where things get interesting — tuning the
gains without it oscillating to death. |
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