The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2024
Session ID : 1A1-I09
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Development of a Mobile Robot Following a Specific Person and Arriving at Destinations Based on Deep Reinforcement Learning
*Masato OCHIAIKazuyuki MORIOKA
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Abstract

This study aims to develop a mobile robot to follow a specific human while avoiding obstacles and reaching to destinations. The behavior models for robot navigation are obtained by deep reinforcement learning in simulated environments representing simplified real-world conditions. The mobile robot in this study assumes to equip an RGB-D camera as an external sensor. The trained behavior model is then implemented in the actual robot for real-world navigation. Detecting and tracking of a specific target person is performed by combination of YOLO and SORT algorithms. Additionally, the RTAB-Map, which enables online simultaneous localization and mapping, allows the relative navigation from the current position without prior mapping.

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© 2024 The Japan Society of Mechanical Engineers
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