Actor-critic objective penalty function method: an adaptive strategy for trajectory tracking in autonomous driving
Bo Wang,
Fusheng Bai,
Ke Zhang
Abstract:Trajectory tracking is a key technology for controlling the autonomous vehicles effectively and stably to track the reference trajectory. How to handle the various constraints in trajectory tracking is very challenging. The recently proposed generalized exterior point method (GEP) shows high computational efficiency and closed-loop performance in solving the constrained trajectory tracking problem. However, the neural networks used in the GEP may suffer from the ill-conditioning issue during model training, wh… Show more
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