エネルギー自給型ロボットのためのSSDを用いた枯葉検出器の開発とDyna-Qによる枯葉接近動作の獲得

抄録

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.