Autonomous Mobile Robot with Simple Navigation System Based on Deep Reinforcement Learning and a Monocular Camera

Koki Yokoyama, Kazuyuki Morioka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The purpose of this study is development of an autonomous mobile robot navigation system based on deep reinforcement learning with a monocular camera, without 2D-LiDAR. The proposed system is based on DDQN(Double Deep Q-Network) as deep reinforcement learning. The system requires the input data as states of DDQN that include the range data around the robot. In this paper, the range data is estimated from a monocular camera instead of 2D-LiDAR. Monocular camera is relatively cheap compared to LiDAR, which can lower the hurdles for spreading robots in the world. The proposed system converts the depth images estimated from monocular camera to 2D range data that is input to the learned model based on 2D plane. The learning on 2D plane is effective to obtain stable models from deep reinforcement learning. Then, we conduct two experiments and evaluate the proposed system. The results show the autonomous navigation was achieved according to camera image-based states.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages525-530
Number of pages6
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - Jan 2020
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: 12 Jan 202015 Jan 2020

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
CountryUnited States
CityHonolulu
Period12/01/2015/01/20

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  • Cite this

    Yokoyama, K., & Morioka, K. (2020). Autonomous Mobile Robot with Simple Navigation System Based on Deep Reinforcement Learning and a Monocular Camera. In Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 (pp. 525-530). [9025987] (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII46433.2020.9025987