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master's thesis
Izbjegavanje prepreka dubokim potpornim učenjem
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:035153
Jerebić, Pavao
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Jerebić, P. (2021). Izbjegavanje prepreka dubokim potpornim učenjem (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:035153

Jerebić, Pavao. "Izbjegavanje prepreka dubokim potpornim učenjem." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:035153

Jerebić, Pavao. "Izbjegavanje prepreka dubokim potpornim učenjem." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:035153

Jerebić, P. (2021). 'Izbjegavanje prepreka dubokim potpornim učenjem', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 03 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:035153

Jerebić P. Izbjegavanje prepreka dubokim potpornim učenjem [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 November 03] Available at: https://urn.nsk.hr/urn:nbn:hr:168:035153

P. Jerebić, "Izbjegavanje prepreka dubokim potpornim učenjem", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:035153

Metadata
TitleIzbjegavanje prepreka dubokim potpornim učenjem
Title (english)Deep reinforcement learning based obstacle evasion
AuthorPavao Jerebić
MentorDomagoj Jakobović (mentor)
Committee memberDomagoj Jakobović (predsjednik povjerenstva)
Committee memberLeonardo Jelenković (član povjerenstva)
Committee memberMarko Đurasević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-02-22, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Postavljena je simulacija u programskom sustavu Unity. Uporabljene su tri različite scene za učenje. U sceni se nalazi dron koji se može gibati u dvije dimenzije, s fiksiranom visinom. Naučen je model arhitekture Pix2Pix za mono-okularnu predikciju dubine.. Korišteni su podaci generirani u okviru simulacije. Algoritam izbjegavanja prepreka je Q-učenje. Simulacija daje algoritmu RGB sliku prostora ispred drona. Predviđa se dubina i zajedno sa željenim smjerom daje se kao ulaz u duboku Q-mrežu (DQN). Model se sastoji od potpuno povezanih i konvolucijskih slojeva. Ostvarena je i varijanta s LSTM slojem. Radi usporedbe su korištene i neke heuristike za izbjegavanje prepreka. Najbolji rezultat je postignut kombinacijom predviđene dubine i varijantom algoritma polja potencijala.
Abstract (english)
A simulation is built using Unity. There are three different testing scenes. A drone is placed in the scene. It can only move in two dimensions. The height is fixed. Pix2Pix architecture is used for single camera depth prediction. Training dataset is generated from the simulation. Algorithm used for obstacle evasion is Q-learning. Simulation provides algorithm with RGB image of the area in front of the drone. Predicted depth with target angle is passed as input to a Deep Q-Network (DQN). Model is composed of dense and convolution layers. There is also a DQN version which uses a LSTM layer. Several obstacle avoidance heuristics are developed to better compare results of the DQN. The best result is achieved by using predicted depth with potential field algorithm.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:035153
Study programmeTitle: Computing
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsClosed access
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Created on2023-01-13 12:32:08