FumeBot: A Deep Convolutional Neural Network Controlled Robot

摘要

This paper describes the development of a convolutional neural network for the control of a home monitoring robot (FumeBot). The robot is fitted with a Raspberry Pi for on board control and a Raspberry Pi camera is used as the data feed for the neural network. A wireless connection between the robot and a graphical user interface running on a laptop allows for the diagnostics and development of the neural network. The neural network, running on the laptop, was trained using a supervised training method. The robot was put through a series of obstacle courses to test its robustness, with the tests demonstrating that the controller has learned to navigate the obstacles to a reasonable level. The main problem identified in this work was that the neural controller did not have memory of past actions it took and a past state of the world resulting in obstacle collisions. Options to rectify this issue are suggested.