未知の屋外環境における移動ロボットの自律走行を可能にするアプリケーションの開発と評価

抄録

Generally, autonomous mobile robots in outdoors have to prepare occupancy grid maps, set waypoints. In addition, users need to be familiar with robot development tools such as ROS. This paper aims to develop a system for any user to navigate autonomous mobile robots to any destinations in unknown outdoor environments. Specifically, waypoints as routes on the electronic map can be provided easily using developed mobile application. An general action model based on deep reinforcement learning allows the robots to travel without path planning on the grid maps. This means that the proposed system does not need advance preparations such as setting waypoints and building occupancy grid map. Some experiments with multiple robots and users in outdoor environment were performed and evaluations for developed mobile application were provided in the paper.