This paper proposes a novel method to combine a reinforcement learning-based control agent and robust controller to provide a high-performance robust control solution. The proposed integration method is applied for motion control of autonomous road vehicles, providing safe motion. In the integration, motion control on longitudinal and lateral dynamics is performed. Depending on the chosen reward function different driving characteristics are achieved e.g., minimal lap time, accurate path following, or enhanced passenger comfort. The training of the neural network is performed using Proximal Policy Optimization. The robust controller is designed through H \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\mathcal {H}_\infty $$\end{document} method, and the two controllers are combined using a supervisor, which performs a constrained quadratic programming task. As a result, lateral and longitudinal control inputs of the vehicle are calculated by the integrated control system. The effectiveness of the proposed control method using simulation scenarios and test scenarios on small-scaled test vehicles is illustrated.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Reinforcement Learning-Based Robust Control for Path Tracking of Automated Vehicles


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Huang, Wei (Herausgeber:in) / Ahmadian, Mehdi (Herausgeber:in) / Lelkó, Attila (Autor:in) / Németh, Balázs (Autor:in)

    Kongress:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2023 ; Ottawa, ON, Canada August 21, 2023 - August 25, 2023



    Erscheinungsdatum :

    13.10.2024


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Robust Path Tracking Control for Autonomous Heavy Vehicles

    Wang, Haoan / Guvenc, Levent / Zhang, Wenming et al. | SAE Technical Papers | 2018


    Robust Path Tracking Control for Autonomous Heavy Vehicles

    Gao, Yu / Shen, Yanhua / Zhang, Wenming et al. | British Library Conference Proceedings | 2018


    Robust Adaptive Learning-based Path Tracking Control of Autonomous Vehicles under Uncertain Driving Environments

    Li, Xuefang / Liu, Chengyuan / Chen, Boli et al. | BASE | 2022

    Freier Zugriff

    Path tracking stability control method based on reinforcement learning

    XIA GUANG / WANG XIAOFEI / QIAN FENG et al. | Europäisches Patentamt | 2024

    Freier Zugriff