Autonomously drifting car that learned how to drift in a roundabout using Deep Reinforcement Learning and the Carla Simulator. Performed as part of a project in the course TSFS12: Autonomous vehicles -- planning, control, and learning systems, taught at Linköping University.
This project was implemented by Angus Lothian and Mattias Ljung during the Autumn of 2021.
The environment source code can be found in src/drl/environment.py and the main file can be found in src/drl_main.py
Video showing the car drifting: https://www.youtube.com/watch?v=6zj6qNOrYdk
Presentation created for the project: https://docs.google.com/presentation/d/1UNQsV97956__UyGWlDzYzVcKrULaytGWKTXD4-6dTS8/edit?usp=sharing