Integration of Robust Control with Reinforcement Learning for Safe Autonomous Vehicle Motion

Lelkó, Attila; Németh, Balázs; Fényes, Dániel; Gáspár, Péter

doi:10.1016/j.ifacol.2023.10.1711

IFAC-PapersOnLine

2023

DOI: 10.1016/j.ifacol.2023.10.1711

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Integration of Robust Control with Reinforcement Learning for Safe Autonomous Vehicle Motion

Attila Lelkó,

Balázs Németh,

Dániel Fényes

et al.

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2024

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Cited by 2 publications

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Aperiodic speed tracking control of unmanned sightseeing vehicles based on hierarchical reinforcement learning

Wan,

Tian,

Wang

et al. 2024

International Journal of Systems Science

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Aperiodic speed tracking control of unmanned sightseeing vehicles based on hierarchical reinforcement learning

Wan,

Tian,

Wang

et al. 2024

International Journal of Systems Science

View full text Add to dashboard Cite

Optimal Motion Design for Autonomous Vehicles With Learning Aided Robust Control

Lelkó,

Németh

2024

IEEE Trans. Veh. Technol.

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This paper presents a control design framework for the integration of robust controller and reinforcement learningbased (RL) control agent. The proposed integration method is applied to motion control of autonomous road vehicles, providing safe motion. The RL-based control agent is used to determine the steering angle and reference velocity of the vehicle to achieve high-performance motion. The chosen reward function is used to achieve different driving behaviors, e.g. high-velocity motion with minimal lap time, path following, or the limitation of control energy. The RL-based control through Proximal Policy Optimization method during episodes is performed. Safe motion is achieved by using a supervisory control framework which is based on the robust H∞ control method, and able to keep limits on lateral path tracking error. The effectiveness of the proposed control through simulation examples with comparisons to predictive control methods is illustrated. Moreover, the applicability of the method through a real-life test scenario on a small-scaled test vehicle is demonstrated.

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Integration of Robust Control with Reinforcement Learning for Safe Autonomous Vehicle Motion

Cited by 2 publications

References 9 publications

Aperiodic speed tracking control of unmanned sightseeing vehicles based on hierarchical reinforcement learning

Aperiodic speed tracking control of unmanned sightseeing vehicles based on hierarchical reinforcement learning

Optimal Motion Design for Autonomous Vehicles With Learning Aided Robust Control

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