Multimodal Sensing and Artificial Intelligence: Technologies and Applications III 2023
DOI: 10.1117/12.2673641
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Path following and obstacle avoidance of tracked vehicle via deep reinforcement learning with model predictive control as reference

Abstract: Deep reinforcement learning (DRL) is based on rigorous mathematical foundations and adjusts network parameters through interactions with the environment. The stability problem of maintaining a vehicle on a continuous path can be achieved by soft actor-critic (SAC). Furthermore, a model predictive control (MPC) with prediction and control horizons under multivariable constraints can precisely follow the path, but the disadvantage is its large computation. In this paper, a DRL control scheme with MPC is proposed… Show more

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