This library is heavily based on JSBSim software (https://github.com/JSBSim-Team/jsbsim). This library's primary purpose is to allow users to explore Beyond Visual Range (BVR) tactics using Reinforcement learning.
The environments above mainly use the F16 flight dynamics and BVR missile models. The F16 model has an additional wrapper to control simply, while the BVR missile has a Proportional Navigation guidance law implemented to guide it toward the target. The following commands are equivalent, but they run the process in parallel to speed up convergence. Currently, there are three available environments:
Single CPU or multiple CPUs:
python mainBVRGym.py -track t1 -seed 1
python mainBVRGym_MultiCore.py -track M1 -cpus 8 -Eps 100000 -eps 3
python mainBVRGym.py -track t2 -seed 1
python mainBVRGym_MultiCore.py -track M2 -cpus 8 -Eps 100000 -eps 3
python mainBVRGym.py -track dog
python mainBVRGym_MultiCore.py -track Dog -cpus 10 -Eps 10000 -eps 1
At the beginning of the training, we see that the Red aircraft effectively shoots down the agent with its first missile (aim1r) but later starts using the second missile as well (aimr2). As the training progresses, the agent starts to utilize their own missiles (aim1) and (aim2), and the running reward illustrates that the agent slowly improves its behavior towards defeating the enemy. Running on 10 CPUs it take less than 4 hours to generate these results.
The following libraries are required to run BVRGym. The code has been tested with Python 3.9
pip install jsbsim geopy pyproj pymap3d torch tensorboard py_trees
To plot Aircraft and Missile behavior
python mainBVRGym.py -track f1 -head 0.0 -alt -1.0 -thr 1.0
BVR air combat is a relatively complex environment with a large number of variable and non-linear dynamics. To change the behavior of the environment, you can modify the configuration files for the corresponding unit or the environment itself.
Environment: jsb_gym/environments/config
Tactical Units: jsb_gym/TAU/config
Additional details can be found in the following article
BVR Gym: A Reinforcement Learning Environment for Beyond-Visual-Range Air Combat
https://arxiv.org/abs/2403.17533
FlightGear offers an excellent tool for visualizing the units present in BVR Gym. To install FlightGear (Tested on Ubuntu 20.04.6 LTS)
sudo add-apt-repository ppa:saiarcot895/flightgear
sudo apt update
More details on https://launchpad.net/~saiarcot895/+archive/ubuntu/flightgear
In the FlightGear aircraft directory (~ /.fgfs/Aircraft/org.flightgear.fgaddon.stable_2020/Aircraft), you should have the f16 model already present, but not the missile. To have a missile model as well, copy the ogel folder from this repo (fg/ogel) to the Flightgears aircraft directory. To visualize missile in Flightgear, I used the ogel (1) model within the fgfs, replaced the grapical representations of the ogel with a missile that was available in fgfs (I think it was from (2)) and added a trail from santa claus (3) to see the trajectory.
Given that you have both the f16 and ogel directories in the fgfs directory, you can run the following commands to visualize both units.
terminal 1: fgfs --fdm=null --native-fdm=socket,in,60,,5550,udp --aircraft=f16-block-52 --airport=ESSA --multiplay=out,10,127.0.0.1,5000 --multiplay=in,10,127.0.0.1,5001
terminal 2: fgfs --fdm=null --native-fdm=socket,in,60,,5551,udp --aircraft=ogel --airport=ESSA --multiplay=out,10,127.0.0.1,5001 --multiplay=in,10,127.0.0.1,5000
And run an example:
terminal 3: python mainBVRGym.py -track f1 -head 0.0 -alt -1.0 -thr 1.0 -v
In Flightgear, you can use "v" to change view-point, "x" to zoom in, "ctrl + x" to zoom out
Finally, you should be able to see something like this:
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