Presentation | 2019-03-01 Local path generation using deep reinforcement learning for four-limbed robots in disaster site Toshiki Kurosawa, Hiroyuki Ogata, Takaaki Ohkawauchi, Takashi Matsuzawa, Ohya Jun, Kenji Hashimoto, Atsuo Takanishi, |
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PDF Download Page | PDF download Page Link |
Abstract(in Japanese) | (See Japanese page) |
Abstract(in English) | In recent years, the demand for the use of robots in disaster sites has increased. In this paper, we propose and investigate a method to generate a local path in a disaster responding 4-limbed robot(WAREC - 1) under present circumstances in the presence of obstacles and debris. In this paper, we use a simulator to verify the proposed method in various environments assumed in a disaster site. Experiments showed that local paths suitable for disaster response robots can be generated even on roads where obstacles with difficulty describing their features exist. |
Keyword(in Japanese) | (See Japanese page) |
Keyword(in English) | CNN / 4-limbed robot / deep reinforcement learning / obstacle avoidance / Movement of rough terrain |
Paper # | PRMU2018-125,CNR2018-48 |
Date of Issue | 2019-02-21 (PRMU, CNR) |
Conference Information | |
Committee | PRMU / CNR |
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Conference Date | 2019/2/28(2days) |
Place (in Japanese) | (See Japanese page) |
Place (in English) | |
Topics (in Japanese) | (See Japanese page) |
Topics (in English) | |
Chair | Shinichi Sato(NII) / Tetsuo Ono(Hokkaido Univ.) |
Vice Chair | Yoshihisa Ijiri(Omron) / Toru Tamaki(Hiroshima Univ.) / Masayuki Kanbara(NAIST) / Kazunori Takashio(Keio Univ.) |
Secretary | Yoshihisa Ijiri(NEC) / Toru Tamaki(Osaka Univ.) / Masayuki Kanbara(Hokkaido Univ.) / Kazunori Takashio(Panasonic) |
Assistant | Go Irie(NTT) / Yoshitaka Ushiku(Univ. of Tokyo) / Wataru Mito(SECOM) / Yuka Kobayashi(Toshiba) / Tatsuya Ishihara(NTT) |
Paper Information | |
Registration To | Technical Committee on Pattern Recognition and Media Understanding / Technical Committee on Cloud Network Robotics |
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Language | JPN |
Title (in Japanese) | (See Japanese page) |
Sub Title (in Japanese) | (See Japanese page) |
Title (in English) | Local path generation using deep reinforcement learning for four-limbed robots in disaster site |
Sub Title (in English) | |
Keyword(1) | CNN |
Keyword(2) | 4-limbed robot |
Keyword(3) | deep reinforcement learning |
Keyword(4) | obstacle avoidance |
Keyword(5) | Movement of rough terrain |
1st Author's Name | Toshiki Kurosawa |
1st Author's Affiliation | Waseda University(Waseda Univ.) |
2nd Author's Name | Hiroyuki Ogata |
2nd Author's Affiliation | Seikei University(Seikei Univ.) |
3rd Author's Name | Takaaki Ohkawauchi |
3rd Author's Affiliation | Waseda University(Waseda Univ.) |
4th Author's Name | Takashi Matsuzawa |
4th Author's Affiliation | Waseda University(Waseda Univ.) |
5th Author's Name | Ohya Jun |
5th Author's Affiliation | Waseda University(Waseda Univ.) |
6th Author's Name | Kenji Hashimoto |
6th Author's Affiliation | Meiji University(Meiji Univ) |
7th Author's Name | Atsuo Takanishi |
7th Author's Affiliation | Waseda University(Waseda Univ.) |
Date | 2019-03-01 |
Paper # | PRMU2018-125,CNR2018-48 |
Volume (vol) | vol.118 |
Number (no) | PRMU-459,CNR-460 |
Page | pp.pp.59-64(PRMU), pp.59-64(CNR), |
#Pages | 6 |
Date of Issue | 2019-02-21 (PRMU, CNR) |