CNN-based vision model for obstacle avoidance of mobile robot

doi:10.1051/matecconf/201713900007

CORC > 重庆绿色智能技术研究院 > 中国科学院重庆绿色智能技术研究院 > 机器人与3D打印技术创新中心

	CNN-based vision model for obstacle avoidance of mobile robot
	Liu, Canglong 1,2; Zheng, Bin2 ; Wang, Chunyang 1; Zhao, Yongting2 ; Fu, Shun 2; Li, Haochen 2
	2017
会议日期	December 16, 2017 - December 17, 2017
会议地点	Chengdu, China
DOI	10.1051/matecconf/201713900007
通讯作者	Wang, Chunyang (wangchunyang19@cust.edu.cn)
英文摘要	Exploration in a known or unknown environment for a mobile robot is an essential application. In the paper, we study the mobile robot obstacle avoidance problem in an indoor environment. We present an end-to-end learning model based Convolutional Neural Network (CNN), which takes the raw image obtained from camera as only input. And the method converts directly the raw pixels to steering commands including turn left, turn right and go straight. Training data was collected by a human remotely controlled mobile robot which was manipulated to explore in a structure environment without colliding into obstacles. Our neural network was trained under caffe framework and specific instructions are executed by the Robot Operating System (ROS). We analysis the effect of the datasets from different environments with some marks on training process and several real-time detect experiments were designed. The final test result shows that the accuracy can be improved by increase the marks in a structured environment and our model can get high accuracy on obstacle avoidance for mobile robots. © The Authors, published by EDP Sciences, 2017.
会议录	3rd International Conference on Mechanical, Electronic and Information Technology Engineering, ICMITE 2017
语种	英语
电子版国际标准刊号	2261236X
内容类型	会议论文
源URL	[http://119.78.100.138/handle/2HOD01W0/4692]
专题	机器人与3D打印技术创新中心
作者单位	1.School of Electronic and Information Engineering, Changchun University of Science and Technology, Changchun; 130022, China; 2.Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing; 400714, China
推荐引用方式 GB/T 7714	Liu, Canglong,Zheng, Bin,Wang, Chunyang,et al. CNN-based vision model for obstacle avoidance of mobile robot[C]. 见:. Chengdu, China. December 16, 2017 - December 17, 2017.