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| Presentation | 2019-03-01 10:00 Local path generation using deep reinforcement learning for four-limbed robots in disaster site Toshiki Kurosawa (Waseda Univ.), Hiroyuki Ogata (Seikei Univ.), Takaaki Ohkawauchi, Takashi Matsuzawa, Ohya Jun (Waseda Univ.), Kenji Hashimoto (Meiji Univ), Atsuo Takanishi (Waseda Univ.)  PRMU2018-125 CNR2018-48 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (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) |
| (in English) | CNN / 4-limbed robot / deep reinforcement learning / obstacle avoidance / Movement of rough terrain / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 118, no. 459, PRMU2018-125, pp. 59-64, Feb. 2019. | |
| Paper # | PRMU2018-125 | |
| Date of Issue | 2019-02-21 (PRMU, CNR) | |
| ISSN | Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | PRMU2018-125 CNR2018-48 |
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| Conference Information | |
| Committee | PRMU CNR |
| Conference Date | 2019-02-28 - 2019-03-01 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | PRMU |
| Conference Code | 2019-02-PRMU-CNR |
| Language | Japanese |
| 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 |
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| Keyword(7) | |
| Keyword(8) | |
| 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.) |
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| Speaker | Author-1 |
| Date Time | 2019-03-01 10:00:00 |
| Presentation Time | 15 minutes |
| Registration for | PRMU |
| Paper # | PRMU2018-125, CNR2018-48 |
| Volume (vol) | vol.118 |
| Number (no) | no.459(PRMU), no.460(CNR) |
| Page | pp.59-64 |
| #Pages | 6 |
| Date of Issue | 2019-02-21 (PRMU, CNR) |
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