0% Complete
فارسی
Home
/
چهاردهمین کنفرانس بین المللی فناوری اطلاعات و دانش
Target-driven Navigation of a Mobile Robot using an End-to-end Deep Learning Approach
Authors :
Mohammad Matin Hosni
1
Ali Kheiri
2
Esmaeil Najafi
3
1- دانشگاه صنعتی خواجه نصیرالدین طوسی
2- دانشگاه صنعتی خواجه نصیرالدین طوسی
3- دانشگاه صنعتی خواجه نصیرالدین طوسی
Keywords :
End-to-end learning،Mapless navigation،Mobile Robot،Deep Learning
Abstract :
The capabilities demonstrated by deep neural net- works have positioned them as viable alternatives to traditional approaches in the fields of autonomous driving and robotics. Classical local motion planning algorithms often involve multiple steps of data preprocessing and can be inherently complex to manage. In this paper, A target-oriented, mapless, end-to-end navigation algorithm is introduced that learns the navigation policy through demonstrations provided by an expert driver. The proposed navigation model relies on laser data and relative target positions to generate the necessary velocity commands, employing a lightweight CNN/DNN network to achieve the desired goal. The experiments demonstrates the proposed navigation model’s capability for real-time navigation within unexplored areas, efficiently avoiding obstacles, and successfully reaching determined goals. The comparison between the expert model and the deep planner indicates the model’s capacity to mimic the expert’s navigation policy. Additionally, the model is able to navigate in dynamic scenarios.
Papers List
List of archived papers
بیشینهسازی تأثیر در شبکههای اجتماعی بر اساس فعالیت کاربران
فاطمه جعفری - علیرضا رضوانیان
A qualitative spoofing detection system based on LSTMs for IoMT
Iman Jafarian - Amirmasoud Sepehrian - Siavash Khorsandi
Presenting an Edge-based Air Quality Management System for Smart City Scenarios
Tina Samizadeh Nikoui - Ali Balador - Amir Masoud Rahmani - Hooman Tabarsaied
Detection and Identification of Cyber-Attacks in Cyber-Physical Systems Based on Machine Learning Methods
Zohre Nasiri Zarandi
Optimal control of robotic hand for rehabilitation using fractional order systems and EEG signal processing
Mehran Safari Dehnavi - Vahid Safari Dehnavi - Masoud Shafiee
Leveraging Retrieval-Augmented Generation for Persian University Knowledge Retrieval
Arshia Hemmat - Mohammad Hassan Heydari - Kianoosh Vadaei - Afsaneh Fatemi
The risk prediction of heart disease by using neuro-fuzzy and improved GOA
Vahid Safari Dehnavi - Masoud Shafiee
Wireless Virtual-Reality by considering Hybrid Beamforming in IEEE802.11ay standard
Nasim Alikhani - Abbas Mohammadi
PeCoQ: A Dataset for Persian Complex Question Answering over Knowledge Graph
Romina Etezadi - Mehrnoush Shamsfard
Improving Drug-Target Interaction Prediction Using Enhanced Feature Selection
Maryam Taheri - Mohammad Reza Keyvanpour - Mohadeseh Saadat Mousavi
more
Samin Hamayesh - Version 41.3.1