Create robot_navigation_model.json

robot_navigation_model.json

@@ -0,0 +1,89 @@
+{
+  "model_name": "robot_navigation_model_v1",
+  "version": "1.0",
+  "description": "Model AI untuk navigasi robot otonom dengan perencanaan rute, pemetaan lingkungan, dan penghindaran rintangan.",
+
+  "architecture": {
+    "type": "Hybrid CNN + Transformer",
+    "modules": {
+      "vision_encoder": {
+        "type": "CNN",
+        "layers": [
+          {"conv": [32, 3, 1]},
+          {"conv": [64, 3, 2]},
+          {"conv": [128, 3, 2]}
+        ]
+      },
+      "lidar_encoder": {
+        "type": "PointNet",
+        "layers": [64, 128, 256]
+      },
+      "path_planner": {
+        "type": "Transformer",
+        "num_layers": 6,
+        "hidden_size": 512,
+        "heads": 8
+      }
+    }
+  },
+
+  "inputs": {
+    "camera_image": "RGB image 640x480",
+    "lidar_points": "Point cloud (max 2048 points)",
+    "imu_data": {
+      "acceleration": "x, y, z",
+      "rotation": "roll, pitch, yaw"
+    },
+    "target_coordinate": "x, y"
+  },
+
+  "outputs": {
+    "navigation_command": [
+      "move_forward",
+      "turn_left",
+      "turn_right",
+      "stop",
+      "recalculate_path"
+    ],
+    "velocity": "float (0.0–1.0)",
+    "steering_angle": "float (-1.0–1.0)",
+    "confidence": "float (0–1)"
+  },
+
+  "capabilities": [
+    "A* path planning",
+    "SLAM (Simultaneous Localization and Mapping)",
+    "Real-time obstacle avoidance",
+    "Multi-sensor fusion (camera + lidar + imu)",
+    "Lane following",
+    "Indoor and outdoor navigation"
+  ],
+
+  "training_data": {
+    "datasets_used": [
+      "indoor_slam_set_v2",
+      "lidar_navigation_world_v1",
+      "robot_waypoint_instructions",
+      "city_navigation_multisensor"
+    ],
+    "total_samples": 85000
+  },
+
+  "example_inference": {
+    "input": {
+      "camera_image": "image_frame_001.png",
+      "lidar_points": "1530 points",
+      "imu_data": {
+        "acceleration": [0.01, 0.0, 0.0],
+        "rotation": [0.0, 0.1, 0.0]
+      },
+      "target_coordinate": [5.2, 3.1]
+    },
+    "output": {
+      "navigation_command": "move_forward",
+      "velocity": 0.72,
+      "steering_angle": -0.18,
+      "confidence": 0.94
+    }
+  }
+}