Neural Network Controller for Autonomous Pile Loading Revised

Wenyan Yang, Nataliya Strokina, Nikolay Serbenyuk, Joni Pajarinen, Reza Ghabcheloo, Juho Vihonen, Mohammad M. Aref, Joni-Kristian Kämäräinen

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference contributionScientificvertaisarvioitu

2 Sitaatiot (Scopus)

Abstrakti

We have recently proposed two pile loading controllers that learn from human demonstrations: a neural network (NNet) [1] and a random forest (RF) controller [2]. In the field experiments the RF controller obtained clearly better success rates. In this work, the previous findings are drastically revised by experimenting summer time trained controllers in winter conditions. The winter experiments revealed a need for additional sensors, more training data, and a controller that can take advantage of these. Therefore, we propose a revised neural controller (NNetV2) which has a more expressive structure and uses a neural attention mechanism to focus on important parts of the sensor and control signals. Using the same data and sensors to train and test the three controllers, NNetV2 achieves better robustness against drastically changing conditions and superior success rate. To the best of our knowledge, this is the first work testing a learning-based controller for a heavy-duty machine in drastically varying outdoor conditions and delivering high success rate in winter, being trained in summer.
AlkuperäiskieliEnglanti
Otsikko2021 IEEE International Conference on Robotics and Automation (ICRA)
KustantajaIEEE
Sivut2198-2204
Sivumäärä7
ISBN (elektroninen)978-1-7281-9077-8
ISBN (painettu)978-1-7281-9078-5
DOI - pysyväislinkit
TilaJulkaistu - 18 lokak. 2021
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisuussa
TapahtumaIEEE International Conference on Robotics and Automation - Xi'an, Kiina
Kesto: 30 toukok. 20215 kesäk. 2021

Julkaisusarja

NimiIEEE International Conference on Robotics and Automation
ISSN (painettu)2152-4092
ISSN (elektroninen)2379-9544

Conference

ConferenceIEEE International Conference on Robotics and Automation
LyhennettäICRA
Maa/AlueKiina
KaupunkiXi'an
Ajanjakso30/05/202105/06/2021

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