Weekly Report 05 (05.13. ~ 05.17.)

Overview

• Online Courses as introduction and refresher for machine learning
• TurtleBot2 Introduction
• Project Scope
• Plans for Week 06

Online Courses as introduction and refresher for machine learning

• Machine Learning Online Course by Stanford University & coursera.org started and ~20% done
• Deep Learning Onramp by MatLab started and ~40% done

TurtleBot2 Introduction

• preliminary read of the TurtleBot Tutorials/Documentation
  • Stage is a 2D multi-robot simulator
  • Gazebo is a 3D environment simulating camera input
    • behaves similar to a 3D editor
    • models are loaded into a 3D environment

Project Scope

1. Corridor & Junction Detection
   • Detecting the Room Layout and Junctions in Corridors, create trajectories through junctions according to target waypoint.
2. End-to-End Driving Model
   • Training of an End-to-End Driving model to move along unobstructed corridors to a given waypoint.
3. Route Planning
   • Implement route planning algorithms to navigate mobile robot through complex environments along waypoints.

Optional Goals 4. Object Detection

• Train neural network to detect static and mobile objects (obstacles) and modify or set waypoints to avoid obstacles.

5. Floor Type Detection

• Train neural network to detect changes in surface texture and detect dirt/stains. Mark position of detected surface as target waypoint.

Distinguishing features to other projects:

Feature	HCU Project	End-to-End Navigation	End-to-End Learning of Driving Models
Single Sensor System	O	X	X
Route Planning	O	junction trajectories	external system (GPS)
Obstacle Detection	O	X	O

Plans for Week 06

1. Formalize Scope and Survey Results
2. Continue Online Courses and Tutorials
3. Introduction TurtleBot & deeper look into Robot Simulation