0% Complete
English
صفحه اصلی
/
چهاردهمین کنفرانس بین المللی فناوری اطلاعات و دانش
Target-driven Navigation of a Mobile Robot using an End-to-end Deep Learning Approach
نویسندگان :
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
کلمات کلیدی :
End-to-end learning،Mapless navigation،Mobile Robot،Deep Learning
چکیده :
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.
لیست مقالات
لیست مقالات بایگانی شده
PeCoQ: A Dataset for Persian Complex Question Answering over Knowledge Graph
Romina Etezadi - Mehrnoush Shamsfard
Designing an AI-assisted toolbox for fitness activity recognition based on deep CNN
Ali Bidaran - Dr Saeed Sharifian
A Joint Trajectory and Energy Harvesting Method for an UAV Enabled Disaster Response Network
Hosein Mohammadi Firozjae - Javad Zeraatkar Moghaddam - Mehrdad Ardebilipour
Integration of Electric Vehicles in Smart Grid using Deep Reinforcement Learning
Farkhondeh Kiaee
Predicting Suicide Risk in Adolescents with Random Forest for Unbalanced Data Management
Fatemeh Rabbani - Dr Behrooz Masoumi - Dr Mohammad Reza Keyvanpour
A Novel Service Deployment Policy in Fog Computing Considering The Degree of Availability and Fog Landscape Utilization Using Multiobjective Evolutionary Algorithms
Maryam Eslami - Dr Mehdi Sakhaei-nia
AOV-IDS: Arithmetic Optimizer with Voting classifier for Intrusion Detection System
Amir Soltany Mahboob - Mohammad Reza Ostadi Moghaddam - Shima Yousefi
ارائه یک رویکرد معنایی مبتنی بر آنتولوژی به منظور شناسایی تاکتیکهای معماری
احسان شریفی - دکتر احمد عبدالله زاده بارفروش
پیاده سازی موازی یک طرح (t,n)-تسهیم چند تصویر با استفاده از GPU
سعیده کبیری راد
Wireless Virtual-Reality by considering Hybrid Beamforming in IEEE802.11ay standard
Nasim Alikhani - Abbas Mohammadi
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.3.1