Abstract. This paper proposes a modular and generic architecture to deal with Global Chassis Control. Reinforcement learning is coupled with intelligent PID controllers and an optimal tire effort allocation algorithm to obtain a general, robust, adaptable, efficient and safe control architecture for any kind of automated wheeled vehicle.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.