To Go or Not To Go? A Near Unsupervised Learning Approach For Robot Navigation

by   Noriaki Hirose, et al.

It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into people and obstacles, getting stuck, or falling off an edge. To this end, we propose an unsupervised and a near-unsupervised method based on Generative Adversarial Networks (GAN) to classify scenarios as traversable or not based on visual data. Our method is inspired by the recent success of data-driven approaches on computer vision problems and anomaly detection, and reduces the need for vast amounts of negative examples at training time. Collecting negative data indicating that a robot should not go through a space is typically hard and dangerous because of collisions, whereas collecting positive data can be automated and done safely based on the robot's own traveling experience. We verify the generality and effectiveness of the proposed approach on a test dataset collected in a previously unseen environment with a mobile robot. Furthermore, we show that our method can be used to build costmaps (we call as "GoNoGo" costmaps) for robot path planning using visual data only.


page 1

page 6

page 7


Mobile Robot Localisation and Navigation Using LEGO NXT and Ultrasonic Sensor

Mobile robots are becoming increasingly important both for individuals a...

SwipeBot: DNN-based Autonomous Robot Navigation among Movable Obstacles in Cluttered Environments

In this paper, we propose a novel approach to wheeled robot navigation t...

NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments

Robot navigation is a task where reinforcement learning approaches are s...

Occupancy Map Prediction for Improved Indoor Robot Navigation

In the typical path planning pipeline for a ground robot, we build a map...

Vision-based Navigation for a Small-scale Quadruped Robot Pegasus-Mini

Quadruped locomotion is currently a vibrant research area, which has rea...

GONet++: Traversability Estimation via Dynamic Scene View Synthesis

Robots that interact with a dynamic environment, such as social robots a...

Configuration-Space Flipper Planning for Rescue Robots

For rescue robots, flipper endows the robot with additional ability to p...

Please sign up or login with your details

Forgot password? Click here to reset