0% Complete
Home
/
11th International Conference on Computer and Knowledge Engineering
Vision-Based Obstacle Avoidance in Drone Navigation using Deep Reinforcement Learning
Authors :
Pooyan Rahmanzadeh Gervi
1
Ahad Harati
2
Sayed Kamaledin Ghiasi-Shirazi
3
1- Department of Computer Engineering Ferdowsi University of Mashhad Mashhad, Iran
2- Department of Computer Engineering Ferdowsi University of Mashhad Mashhad, Iran
3- Department of Computer Engineering Ferdowsi University of Mashhad Mashhad, Iran
Keywords :
autonoumous, navigation, drone, obstacle avoidance, deep reinforcement learning, actor-critic, policy gradient
Abstract :
Drones are soon getting into action in many commercial and non-commercial missions because of their low cost and easy deployment. Nonetheless, this so-called easy deployment requires a human operator to be safe and reliable. With the use of drone platforms as means of package delivery or search and rescue in dangerous sites, full autonomy is now attracting the robotic community. Specifically, using drones in urban areas requires some degrees of autonomy because of potential dynamic obstacles. This paper provides an architecture inspired by natural livings such as insects in order to mitigate the navigation challenge in an autonomous way. We conduct our study in a standard simulation environment and results will be compared to a human expert. Using deep reinforcement learning, we manage to generalize the learned policy in this specific domain. Finally, our simulated results imply that reasonable collision avoidance in urban environments is achieved compared to a human pilot.
Papers List
List of archived papers
Identification of Botnets and Nodes Attacking Smart Cities by Majority Voting Mechanism and Feature Selection
Maliheh Araghchi - Nazbanoo Farzaneh
Soccer Video Event Detection Using Metric Learning
Ali Karimi - Ramin Toosi - Mohammad Ali Akhaee
A New Time Series Approach in Churn Prediction with Discriminatory Intervals
Hedieh Ahmadi - Seyed Mohammad Hossein Hasheminejad
TCAR: Thermal and Congestion-Aware Routing Algorithm in a Partially Connected 3D Network on Chip
Majid Nezarat - Masoomeh Momeni
Enhanced Atrial Fibrillation (AF) Detection via Data Augmentation with Diffusion Model
Arash Vashagh - Amirhossein Akhoondkazemi - Sayed Jalal Zahabi - Davood Shafie
A Novel Approach for Image-Text Matching Cross-Modal Space Learning
Amirreza Ebrahimi - Mohammad Javad Parseh - Pejman Rasti
Detecting Non-Spherical Clusters Using Modified CURE Algorithm
Arezou Safdari - Pedram Salehpour
Stock market prediction using multi-objective optimization
Mahshid Zolfaghari - Hamid Fadishei - Mohsen Tajgardan - Reza Khoshkangini
Classification of COVID-19 and Nodule in CT Images using Deep Convolutional Neural Network
Amirhossein Ghaemi - Seyyed Amir Mousavi mobarakeh - Habibollah Danyali - Kamran Kazemi
Impossible differential and zero-correlatin linear cryptanalysis of Marx, Marx2, Chaskey andSpeck32
Mahshid Saberi - Nasour Bagheri - Sadegh Sadeghi
more
Samin Hamayesh - Version 41.5.3