Autonomous control of a mobile robot with incremental deep learning neural networks

• Autor: Glöde, Isabella
• Formato: tesis de maestría
• Fecha de Publicación: 2021
• Institución: Pontificia Universidad Católica del Perú
• Repositorio: PUCP-Institucional
• Lenguaje: inglés
• OAI Identifier: oai:repositorio.pucp.edu.pe:20.500.14657/175709
• Enlace del recurso: http://hdl.handle.net/20.500.12404/18676
• Nivel de acceso: acceso abierto
• Materia: Control automático--Robots móviles; Aprendizaje profundo; Redes neuronales; http://purl.org/pe-repo/ocde/ford#2.02.03

Over the last few years autonomous driving had an increasingly strong impact on the automotive industry. This created an increased need for artificial intelligence algo- rithms which allow for computers to make human-like decisions. However, a compro- mise between the computational power drawn by these algorithms and their subsequent performance must be found to fulfil production requirements. In this thesis incremental deep learning strategies are used for the control of a mobile robot such as a four wheel steering vehicle. This strategy is similar to the human approach of learning. In many small steps the vehicle learns to achieve a specific goal. The usage of incremental training leads to growing knowledge-base within the system. It also provides the opportunity to use older training achievements to improve the system, when more training data is available. To demonstrate the capabilities of such an algorithm, two different models have been formulated. First, a more simple model with counter wheel steering, and second, a more complex, nonlinear model with independent steering. These two models are trained incrementally to follow different types of trajectories. Therefore an algorithm was established to generate useful initial points. The incremental steps allow the robot to be positioned further and further away from the desired trajectory in the environ- ment. Afterwards, the effects of different trajectory types on model behaviour are investigated by over one thousand simulation runs. To do this, path planning for straight lines and circles are introduced. This work demonstrates that even simulations with simple network structures can have high performance.