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Warthog simulation feature for AirSim #4419
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akhil22
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Fixes: #
About
This fork adds warthog simulation feature to AirSim
How Has This Been Tested?
I have tested the build on Linux and Windows. I have implemented an LQR controller for controlling the linear and angular velocities of Warthog similar to the real platform. State reports the kinematics, current linear and angular velocities. I have also added GPS, Camera and IMU sensors and tested them on both Linux and Windows machines. I would like to know more about what else needs to be tested.
Screenshots (if appropriate):
Video of warthog in AirSim: https://www.youtube.com/watch?v=vDzQvWTwmo4
Simple Dynamics used for LQR controller: https://drive.google.com/file/d/1xUc0-XfjgKZ9gfnNCg-f8MUYjp6Mdx2W/view?usp=sharing
python code used for solving dynamics (input left and right torque to linear and angular acceleration): https://drive.google.com/file/d/1HF3zj5fVHGSblILoWhxdF8fmkBT8AF-L/view?usp=sharing
matlab code used to get lqr gains based on the state space model above: https://drive.google.com/file/d/1AqzvGMRKqa68v3cs89iybHY7jMyIZwKv/view?usp=sharing
If you want to use Warthog for RL and if you need to speed up the simulation use this matlab script to calculate gains
for LQR (This is the discrete version and works better when step size is big)
https://drive.google.com/file/d/1zGl1sf25q-HaZZM4sRZLCJJhT4aoAjeg/view?usp=sharing