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Development of Reinforcement Learning-based Obstacle Avoidance toward Autonomous Mobile Robots for an Industrial Environment

산업용 자율 주행 로봇에서의 격자 지도를 사용한 강화학습 기반 회피 경로 생성기 개발

Yang, Jeong-Yean
양정연

  • Received : 2018.12.28
  • Accepted : 2019.01.21
  • Published : 2019.03.28

Abstract

Autonomous locomotion has two essential functionalities: mapping builds and updates maps by uncertain position information and measured sensor inputs, and localization is to find the positional information with the inaccurate map and the sensor information. In addition, obstacle detection, avoidance, and path designs are necessarily required for autonomous locomotion by combining the probabilistic methods based on uncertain locations. The sensory inputs, which are measured by a metric-based scanner, have difficulties of distinguishing moving obstacles like humans from static objects like walls in given environments. This paper proposes the low resolution grid map combined with reinforcement learning, which is compared with the conventional recognition method for detecting static and moving objects to generate obstacle avoiding path. Finally, the proposed method is verified with experimental results.

Keywords

Obstacle Avoidance;Grid Map;Reinforcement Learning;Autonomous Locomotion;Path Generation