README.md

Reinforcement learning playground

Currently repository allows to play with cart pole model.

Cart pole simulation

Model of the cart pole

The model of the cart pole was initially created and analyzed in publication:

• K. Arent, M. Szulc, "Experimental stand with a pendulum on a cart: construction, modelling, identification, model based control and deployment"

    @chapter {ARENT2018
        title = "Experimental stand with a pendulum on a cart: construction, modelling, identification, model based control and deployment"
        authors = "KRZYSZTOF ARENT and Mateusz Szulc"
        booktitle = "Postępy robotyki"
        year = "2018"
        pages = "365-376"
    } 
  

The cart pole is located in The Laboratory of Robotics on Wrocaław University of Science and Technology.

Run simulation

Open folder in a devcontainer. Then type

colcon build --symlink-install
source install/setup.bash
ros2 launch cart_pole_bringup cart_pole.launch.py

Linear approximation in an unstable equilibrium point

A model of an inverted pendulum on a cart is derived by script dynamics.py.

source install/setup.bash
ros2 run cart_pole_model_based_controller dynamics 

Linear approximation was checked by script check_model.py where the initial angle is 0.1rad.

source install/setup.bash
ros2 run cart_pole_model_based_controller check_model 

The model was applied to control the cart pole in the script linear_approximation_control_node.py.

source install/setup.bash
ros2 run cart_pole_model_based_controller linear_approximation_control_node