Towards Reinforcement Learning Based Log Loading Automation

摘要

Forestry forwarders play a central role in mechanized timber harvesting by picking up and moving logs from the felling site to a processing area or a secondary transport vehicle. Forwarder operation is challenging and physically and mentally exhausting for the operator who must control the machine in remote areas for prolonged periods of time. Therefore, even partial automation of the process may reduce stress on the operator. This study focuses on continuing previous research efforts in application of reinforcement learning agents in automating log handling process, extending the task from grasping which was studied in previous research to full log loading operation. The resulting agent will be capable to automate a full loading procedure from locating and grappling to transporting and delivering the log to a forestry forwarder bed. To train the agent, a trailer type forestry forwarder simulation model in NVIDIA's Isaac Gym and a virtual environment for a typical log loading scenario were developed. With reinforcement learning agents and a curriculum learning approach, the trained agent may be a stepping stone towards application of reinforcement learning agents in automation of the forestry forwarder. The agent learnt grasping a log in a random position from grapple's random position and transport it to the bed with 94% success rate of the best performing agent.