Deep reinforcement learning (DRL) has been successfully adopted in many tasks, such as autonomous driving and gaming, to achieve or surpass human-level performance. This paper proposes a DRL-based trajectory planner for automated parking systems (APS). A thorough review of literature in this field is presented. A simulation study is conducted to investigate the trajectory planning performance of the parking agent for: (i) different neural-network architectures; (ii) different training set-ups; (iii) efficacy of human-demonstration. Real-time capability of the proposed planner on various embedded hardware platforms is also discussed by the paper, showing promising performance. Insights of the use of DRL for APS are concluded at the end of the paper.
Trajectory Planning for Automated Parking Systems Using Deep Reinforcement Learning
Int.J Automot. Technol.
International Journal of Automotive Technology ; 21 , 4 ; 881-887
2020-08-01
7 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Parking task allocation and trajectory planning system based on multi-agent reinforcement learning
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