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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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机译:障碍物规避模型生成方法,障碍物规避模型生成装置以及障碍物规避模型生成程序
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摘要
An obstacle avoidance model generation method includes: acquiring surrounding information, at a determination point where a moving vehicle traveling in a space in which an obstacle is disposed determines a traveling direction, for each traveling direction of the moving vehicle, the surrounding information including a distance to the obstacle, a degree of coincidence in a direction toward a target point, and a degree of coincidence in a direction of the moving vehicle before and after determination of the traveling direction; determining the traveling direction on the basis of an obstacle avoidance model executing convolution processing of applying a filter to a region including the traveling directions in the surrounding information; causing the moving vehicle to travel in the traveling direction determined in the determining; and causing the obstacle avoidance model to learn how to select the traveling direction on the basis of a score obtained by repeating the determining of the traveling direction and the traveling of the moving vehicle.
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