Fundamental study on operation support system for crawler cranes using deep reinforcement learning

Abstract

It is important for the safety of outdoor machines such as crawler cranes to avoid hazardous event such as tipping, structural damage, and excessive motion under the influence of wind and the ground supporting the machine, which is the natural environment. We have been conducting research to develop an operation support system using deep reinforcement learning, with a focus on lifted load sway. In this study, we describe the development status of a simulator that links a deep reinforcement learning agent created by MATLAB/Simulink with the Unreal Engine, a 3D game engine, to load sway control.