An Object Detection and Obstacle

Avoidance Using Deep Learning

And Deep Reinforcement Learning
For Navigating Mobile Robots
Nirban Das(20376014)
 Abstract
This project proposes a methodology for detecting obstacles for mobile robots. The
methods are based on the state of the art deep learning techniques that can detect
various objects in the images. We will also need object localization to attain autonomous
behaviour. Deep Convonvolution Neural Networks (CNN) based methods like YOLO(You
Look Only Once), R-CNN(Region-Based CNN), FR-CNN, SSD(Single Shot MultiBox
Detector) will be used and will be compared when the mobile robot is put in a real-time
dynamic environment. The predictions will then be used for controlling the wheels of the
robot. Based on the objects detected the robot will be using deep reinforcement learning
techniques to control the mobile robot. Deep reinforcement methods like DQN(Deep Q-
Network), DDPG(Deep Deterministic Policy Gradient), will be used to get the optimal
parameters to move the wheels of the robot. The robots will be designed in gazebo
environment and to run the robot we will use ROS2 for the robot.
 Proposed work
●
Manuver and control mobile robot
●
use the camera for perception of environment
●
Use state of the art deep learning algorithms
●
Object detection for obstacle avoidance
●
Control the robot using reinforcement learning
 Proposed work
●
Using Deep Learning Methods to detect objects
which are possible obstacles
– CNN based algorithms
– YOLO
– R-CNN
– SSD
 Proposed work
●
To control the Robot Wheels use Reinforcement
learning algorithms
– DQN
– DDPG
●
Use ROS2 and gazebo for simulations