Development of a Leaf Detector using SSD and Acquisition of Leaf-Approaching Behavior using Dyna-Q for Energy Sustainable Robot

Abstract

Energy Sustainable Robot (ESR), capable of moving and feeding using environmental energy sources,utilizing leaf biomass is proposed. We aim to develop and integrate components for mobility, collection, combustion with thermoelectric generation, and power storage. Deep learning for leaf detection and reinforcement learning for approach behaviors are crucial for autonomous operation in uncertain environments. Our study achieves leaf detection using SSD and acquires leaf approach behavior via Dyna-Q. Both leaf detection capability and approachability are verified by experiments.