뿜칠 로봇의 강화 학습 기반 작업 초기 위치 인식 방법

Abstract

Recently, there has been a lot of interest concerning automation and robotics in hazardous environments including construction sites. Spray robots paint walls or ceilings on construction sites instead of workers. The main functions of the spray robot include initial spray position recognition, robot path generation, robot path following, and spray quality inspection. This paper describes a method to automatically recognize the initial spray position using AI. In particular, this paper discusses a reinforcement learning method for a spray robot to recognize the corner where the ceiling and adjacent wall meet as the initial spray position when spraying a wall.