Federated learning for vision-based obstacle avoidance in mobile robots

Federated learning for vision-based obstacle avoidance in mobile robots

Автор: Al-khafaji I.M.A., Panov A.V.

Журнал: Вестник Южно-Уральского государственного университета. Серия: Компьютерные технологии, управление, радиоэлектроника @vestnik-susu-ctcr

Рубрика: Информатика и вычислительная техника

Статья в выпуске: 3 т.23, 2023 года.

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Federated learning (FL) is a machine learning approach that allows multiple devices or systems to train a model collaboratively, without exchanging their data. This is particularly useful for autonomous mobile robots, as it allows them to train models customized to their specific environment and tasks, while keeping the data they collect private. Research Objective to train a model to recognize and classify different types of objects, or to navigate around obstacles in its environment. Materials and methods we used FL to train models for a variety of tasks, such as object recognition, obstacle avoidance, localization, and path planning by an autonomous mobile robot operating in a warehouse FL. We equipped the robot with sensors and a processor to collect data and perform machine learning tasks. The robot must communicate with a central server or cloud platform that coordinates the training process and collects model updates from different devices. We trained a neural network (CNN) and used a PID algorithm to generate a control signal that adjusts the position or other variable of the system based on the difference between the desired and actual values, using the relative, integrative and derivative terms to achieve the desired performance. Results through careful design and execution, there are several challenges to implementing FL in autonomous mobile robots, including the need to ensure data privacy and security, and the need to manage communications and the computational resources needed to train the model. Conclusion. We conclude that FL enables autonomous mobile robots to continuously improve their performance and adapt to changing environments and potentially improve the performance of vision-based obstacle avoidance strategies and enable them to learn and adapt more quickly and effectively, leading to more robust and autonomous systems.

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Federated learning (fl), neural network (cnn), internet of things (iot), obstacle avoidance, vision-based, mobile robots

Короткий адрес: https://sciup.org/147241767

IDR: 147241767   |   DOI: 10.14529/ctcr230304

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