Multi-faceted deep learning framework for dynamics modeling and robot localization learning

Article type: Research Article

Authors: Shan, Yuxiang | Lu, Hailiang | Lou, Weidong^{; *}

Affiliations: China Tobacco Zhejiang Industrial Company Limited

Correspondence: [*] Corresponding author. Weidong Lou, China Tobacco Zhejiang Industrial Company Limited. E-mail: [email protected].

Abstract: Exploiting dynamic spatial and temporal features of location information for robot modeling is of great importance in many real applications. It has gained increasing attention in the era of the Internet of Things (IoT). However, successful modeling and accurate localization for robot in indoor environment is still a challenge, where the environment factors are complex and unpredictable, such as signal noise, obstacles and spare fingerprints. Existing studies usually employ data driven and learning based models to capture spatial and temporal features for robot location estimation, modeling dynamics of robot and make robot decision. However, the modeling and localization performance is not satisfied. In this paper, to address above challenges, a novel deep learning framework called multi-faceted deep learning based dynamics modeling and robot localization learning (DMLoc) method is proposed. Specifically, a localization attention module is designed to capture the features from original fingerprints and optimized fingerprints information. Then, a multi-faceted localization module is proposed, which integrates extraction model and optimized model with long short-term memory (LSTM) and gate recurrent unit (GRU). Moreover, a multi-feature fusion layer is designed to fuse the extracted features and generate localization results. Extensive simulation results show the efficiency of the proposed DMLoc.

Keywords: Robot localization, dynamics modeling, learning-based robot decision

DOI: 10.3233/JIFS-230895

Journal: Journal of Intelligent & Fuzzy Systems, vol. 45, no. 4, pp. 5541-5550, 2023