Actor-critic objective penalty function method: an adaptive strategy for trajectory tracking in autonomous driving

Actor-critic objective penalty function method: an adaptive strategy for trajectory tracking in autonomous driving

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 hig...

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Bibliographic Details
Main Authors: Bo Wang, Fusheng Bai, Ke Zhang
Format: Article
Language:English
Published: Springer 2023-09-01
Series:Complex & Intelligent Systems
Subjects:
Autonomous driving
Trajectory tracking
Model predictive control (MPC)
Reinforcement learning (RL)
Objective penalty function method
Online Access:https://doi.org/10.1007/s40747-023-01238-6

Internet

https://doi.org/10.1007/s40747-023-01238-6

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