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Unity


3DoF Gimbal Controller : Neural Network (NN)


Posted: 2018-06-02 07:28:55

Presenting 3 Degrees of Freedom Gimbal Controller, based on thruster controller for spacecraft (i.e. satellite) applications in Unity3D, using Evolving Neural Network - NEAT.

It was been while, number of searches, efforts, trials and errors past, aiming, to create the controller in Unity3D, which will allow orient a satellite toward target reference, i.e. an orbit of the planet. Rather than using standard Unity3D method Lerp, to set the orientation, I wanted to simulate close to realistic behavior, of thruster based controller for spacecrafts. This means, each individual axis of the satellite (spacecraft), can be controlled individually, to ensure desired orientation of 3 axis. Not only orientation can be defined for each 3 axis, but also angular velocity for any of axis. This allows for example, for traveling satellite, to spin around one of its axis, while pointing into desired direction.


The project was made using Unity 3D 2018.2.0b4. Howver, since is c# based, it should be able work on older version of Unity3D. Unity Package can be accessed here:
NEAT_3DoF_GimbalController.unitypackage
In case it do not work for any reaosn, specially for oolder version, copy of project folder is here:
NEAT_3DoF_Orientation.7z


Project uses Evolving Neural Network - NEAT, based on Evolving Neural Networks through Augmenting Topologies.
NEAT Paper by Kenneth O. Stanley and Risto Miikkulainen:
Evolving Neural Networks through Augmenting Topologies


Project is derived from:
Evolving Neural Networks NEAT With 3D Cars + Tutorial
by
The One, published July 2016
Evolving Neural Networks NEAT With 3D Cars + Tutorial





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