University of Twente Student Theses


Autonomous navigation of the PIRATE using reinforcement learning

Grefte, L.J.L. (2020) Autonomous navigation of the PIRATE using reinforcement learning.

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Abstract:The PIRATE is a Pipe Inspection Robot for AuTonomous Exploration developed at the researchgroup Robotics and Mechatronics (RaM) at the University of Twente. The PIRATE is a worm like robot, which consist out of several modular sections. Because of the wormlike design, the PIRATE is able to clamp in pipes with different diameters. Furthermore, it has rotatable section in the middle such that it is capable of making sharp bends. The goal of the project is to achieve autonomous navigation using Reinforcement Learning of the PIRATE. This is done within a simulation environment called Coppeliasim(V-Rep). This is achieved by using a hierarchical reinforcement learning approach.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 50 technical science in general
Programme:Electrical Engineering MSc (60353)
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