Visual object tracking for UAVs using deep reinforcement learning

dc.contributor.advisor Ali Jannesari Ko, Kyungtae
dc.contributor.department Computer Science 2020-06-26T20:00:34.000 2020-06-30T03:22:19Z 2020-06-30T03:22:19Z Fri May 01 00:00:00 UTC 2020 2020-06-23 2020-01-01
dc.description.abstract <p>Integration of artificial intelligence and unmanned aerial vehicles (UAVs) has been an active research topic in recent years, especially when UAVs are required to implement difficult tasks which can't be done easily with human control. Usually UAVs use multiple sensors such as top-down camera or LiDAR sensor to gather full information of environments, and main processor machine calculates all necessary trajectory for UAVs. However, such environment-specific methodology is not applicable to real-world problems mostly due to the complexity which incapacitates proper sensor installation around space. This thesis proposes an approach which uses monocular on-board camera and reinforcement learning-based model to follow the detected object. This approach is more cost efficient and environment-adaptive compare to the previous approaches which tend to use multiple sensors and pre-calculated trajectory. Our model extended the previous Deep Double Q-network with dueling architecture (D3QN) model, altered an action table and a reward function, which enables 3-dimensional movements, and combined object detection using MobileNet, which adds bounding box information to image input of training network. In addition, the convergence-based exploration and exploitation is adaptively applied to D3QN network aligned with epsilon-greedy algorithm. The tests are done in different simulation environments with different complexity and difficulty. The Microsoft-supported quadrotor simulating API, ‘Airsim' module is used for the testing. Results shows the model tracks the detected object, the human figure, without colliding with obstacle along the path, and trained faster with convergence-based exploration algorithm.</p>
dc.format.mimetype application/pdf
dc.identifier archive/
dc.identifier.articleid 8997
dc.identifier.contextkey 18242604
dc.identifier.s3bucket isulib-bepress-aws-west
dc.identifier.submissionpath etd/17990
dc.language.iso en
dc.source.bitstream archive/|||Fri Jan 14 21:32:06 UTC 2022
dc.subject.keywords Deep Reinforcement Learning
dc.subject.keywords drone
dc.subject.keywords Object detection
dc.subject.keywords Simulation
dc.subject.keywords Tracking
dc.subject.keywords UAV
dc.title Visual object tracking for UAVs using deep reinforcement learning
dc.type article
dc.type.genre thesis
dspace.entity.type Publication
relation.isOrgUnitOfPublication f7be4eb9-d1d0-4081-859b-b15cee251456 Computer Science thesis Master of Science
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