Accuracy and Generality of Trained Models for Lift Planning Using Deep Reinforcement Learning-Optimization of the Crane Hook Movement between Two Points

A. Tarutani, K. Ishida

研究成果: Conference contribution

抄録

An optimization system of a lifting plan must have generality to manage different design conditions and real-time changes at a construction site. Furthermore, it must optimize the construction planning and scheduling. In a previous study, we trained a two-point locomotion model for crane hook movement using deep reinforcement learning to generate and optimize lifting plans automatically. However, we did not test the accuracy and generality of the model. In this study, we test (1) the accuracy and (2) the generality of the trained model using a new environment. To evaluate the accuracy of the optimal solution, we examined the locus of the movement of each frame between two points. To verify the generality of the trained model, we solved an optimization problem of the crane hook movement under different conditions of the crane's learning environment using the trained model. From the results, we found that the movement path was 3.6 times the shortest path and the crane hook initially moved vertical. Furthermore, the agent solved the optimization problem of the crane hook movement when the size of the crane changed. Therefore, the corresponding range increased with increasing size of the crane. However, the agent did not solve the problem when the slewing angle in the target position was larger than the slewing angle in training. Based on these results, we believe that the limited vertical movement range and rotation range of the crane reduces the accuracy and generality of the trained model.

本文言語English
ホスト出版物のタイトルProceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020
ホスト出版物のサブタイトルFrom Demonstration to Practical Use - To New Stage of Construction Robot
出版社International Association on Automation and Robotics in Construction (IAARC)
ページ538-546
ページ数9
ISBN(電子版)9789529436347
出版ステータスPublished - 2020
イベント37th International Symposium on Automation and Robotics in Construction: From Demonstration to Practical Use - To New Stage of Construction Robot, ISARC 2020 - Kitakyushu, Online, Japan
継続期間: 2020 10月 272020 10月 28

出版物シリーズ

名前Proceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020: From Demonstration to Practical Use - To New Stage of Construction Robot

Conference

Conference37th International Symposium on Automation and Robotics in Construction: From Demonstration to Practical Use - To New Stage of Construction Robot, ISARC 2020
国/地域Japan
CityKitakyushu, Online
Period20/10/2720/10/28

ASJC Scopus subject areas

  • 人工知能
  • 土木構造工学
  • 人間とコンピュータの相互作用
  • 地盤工学および土木地質学

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