SELF-COLLISION AVOIDANCE OF ARM ROBOT USING GENERATIVE ADVERSARIAL NETWORK AND PARTICLES SWARM OPTIMIZATION (GAN-PSO)

摘要

Collision avoidance of Arm Robot is designed for the robot to collide objects, colliding environment, and colliding its body. Self-collision avoidance was successfully trained using Generative Adversarial Networks (GANs) and Particle Swarm Optimization (PSO). The Inverse Kinematics (IK) with 96K motion data was extracted as the dataset to train data distribution of 3.6K samples and 7.2K samples. The proposed method GANs-PSO can solve the common GAN problem such as Mode Collapse or Helvetica Scenario that occurs when the generator always gets the same output point which mapped to different input values. The discriminator produces the random samples' data distribution in which present the real data distribution (generated by Inverse Kinematic analysis). The PSO was successfully reduced the number of training epochs of the generator only with 5000 iterations. The result of our proposed method (GANs-PSO) with 50 particles was 5000 training epochs executed in 0.028ms per single prediction and 0.027474% Generator Mean Square Error (GMSE).