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Obstacle avoidance model generation method, obstacle avoidance model generation device, and obstacle avoidance model generation program
Obstacle avoidance model generation method, obstacle avoidance model generation device, and obstacle avoidance model generation program
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摘要
PROBLEM TO BE SOLVED: To suppress an increase in learning amount. An obstacle avoidance model generation method according to an embodiment is a determination point at which a moving body traveling in a space in which an obstacle is arranged determines a traveling direction. Of the surrounding information acquired in the acquisition step of acquiring the surrounding information including the distance, the matching degree of the orientation with respect to the target point, and the matching degree of the orientation of the moving body before and after determining the traveling direction, among the surrounding information acquired in the obtaining step. Based on an obstacle avoidance model that executes a convolution process that applies a filter to a region including a plurality of traveling directions, a determining step that determines the traveling direction of the moving body, and the moving body travels in the traveling direction determined by the determining step A learning step in which the obstacle avoidance model learns a method of selecting the traveling direction of the moving body based on the score obtained by repeating the traveling step, the determination of the traveling direction in the determining step, and the traveling of the moving body in the traveling step. And, including. [Selection diagram] Figure 2
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