학술논문
Step climbing method for crawler type rescue robot using reinforcement learning with Proximal Policy Optimization
Document Type
Conference
Author
Source
2019 12th International Workshop on Robot Motion and Control (RoMoCo) Robot Motion and Control (RoMoCo), 2019 12th International Workshop on. :154-159 Jul, 2019
Subject
Language
ISSN
2575-5579
Abstract
It is a huge burden on an operator when he/she tele-operates a rescue robot traveling on a rough terrain. Therefore, the purpose of this study is to reduce this burden by controlling the robot autonomously. As a first step, we propose a step climbing method for a crawler type rescue robot by using reinforcement learning with Proximal Policy Optimization (PPO). The input data are the image of a camera on the robot and a posture image of the robot. We verified the effectiveness of the proposed method using a dynamics simulator.