Research on Obstacle Avoidance Method of Robot Based on Region Location

摘要

In order to solve the problem of environment generalization in continuous state space, an obstacle avoidance method based on region location is proposed. The method is divided into three steps: (1) Using Region Proposal Network (RPN) to localize the obstacle area; (2). The environment map is established by the regional position mapping relation; and (3). The Deep Q-Learning Network (DQN) is used to realize collision detection of the robot, then pixel collision detection module is introduced and finally the pixel collision simulation distance sensor is combined to obtain the distance between the robot and obstacle and whether the collision or not. In this paper, the experiments were carried out in static obstacle environment and in dynamic and static obstacle environment for robot obstacle avoidance tasks. Experimental results show that the problem of environment generalization can be effectively solved by introducing pixel collision detection in the process of robot obstacle avoidance, and the network model trained in a dynamic environment has some generalization ability.