Umeå University's logo

umu.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Multi-log grasping using reinforcement learning and virtual visual servoing
Umeå University, Faculty of Science and Technology, Department of Physics. (Digital Physics)
Umeå University, Faculty of Science and Technology, Department of Physics. Algoryx Simulation. (Digital Physics)ORCID iD: 0000-0001-6565-3123
Umeå University, Faculty of Science and Technology, Department of Physics. (Digital Physics)ORCID iD: 0000-0002-0787-4988
2023 (English)In: Robotics, E-ISSN 2218-6581, Vol. 13, no 1, article id 3Article in journal (Refereed) Published
Abstract [en]

We explore multi-log grasping using reinforcement learning and virtual visual servoing for automated forwarding in a simulated environment. Automation of forest processes is a major challenge, and many techniques regarding robot control pose different challenges due to the unstructured and harsh outdoor environment. Grasping multiple logs involves various problems of dynamics and path planning, where understanding the interaction between the grapple, logs, terrain, and obstacles requires visual information. To address these challenges, we separate image segmentation from crane control and utilise a virtual camera to provide an image stream from reconstructed 3D data. We use Cartesian control to simplify domain transfer to real-world applications. Because log piles are static, visual servoing using a 3D reconstruction of the pile and its surroundings is equivalent to using real camera data until the point of grasping. This relaxes the limits on computational resources and time for the challenge of image segmentation, and allows for data collection in situations where the log piles are not occluded. The disadvantage is the lack of information during grasping. We demonstrate that this problem is manageable and present an agent that is 95% successful in picking one or several logs from challenging piles of 2–5 logs.

Place, publisher, year, edition, pages
MDPI, 2023. Vol. 13, no 1, article id 3
Keywords [en]
autonomous forwarding, visual servoing, virtual camera, reinforcement learning, multi-log grasping, Cartesian control
National Category
Robotics Control Engineering Other Physics Topics Computer Vision and Robotics (Autonomous Systems)
Research subject
Physics; Automatic Control
Identifiers
URN: urn:nbn:se:umu:diva-220402DOI: 10.3390/robotics13010003Scopus ID: 2-s2.0-85183350095OAI: oai:DiVA.org:umu-220402DiVA, id: diva2:1834131
Projects
Mistra Digital Forest
Funder
Mistra - The Swedish Foundation for Strategic Environmental Research, Grant DIA 2017/14 #6Available from: 2024-02-02 Created: 2024-02-02 Last updated: 2024-02-09Bibliographically approved

Open Access in DiVA

fulltext(4444 kB)36 downloads
File information
File name FULLTEXT01.pdfFile size 4444 kBChecksum SHA-512
f61e7e8fd8236e083695e870dec73fa3b43e349b4563cd16db86dc9cf3f89d2f57c7b8fd7ec26db983b3e9019cf9cfcaac05e4acdd6b14d5ce2e48e2a59e8a5f
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopus

Authority records

Wallin, ErikWiberg, ViktorServin, Martin

Search in DiVA

By author/editor
Wallin, ErikWiberg, ViktorServin, Martin
By organisation
Department of Physics
In the same journal
Robotics
RoboticsControl EngineeringOther Physics TopicsComputer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar
Total: 36 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 190 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf