Velocity control in a right-turn across traffic scenario for autonomous vehicles using kernel-based reinforcement learning

Recently, advanced control methods like machine leaning are increasingly applied to autonomous vehicle. This paper focuses on velocity control in a right-turn traffic scenario. A Markov Decision Processes(MDPs) is modeled and the actor-critic reinforcement learning architecture is employed. Then the...

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Bibliographic Details
Published in:	2017 Chinese Automation Congress (CAC) pp. 6211 - 6216
Main Authors:	Yuxiang Zhang, Bingzhao Gao, Lulu Guo, Hong Chen, Jinghua Zhao
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.10.2017
Subjects:	autonomous vehicle kernel-based least squares policy iteration (KLSPI) reinforcement learning (RL) Systems modeling
Online Access:	Get full text
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Summary:	Recently, advanced control methods like machine leaning are increasingly applied to autonomous vehicle. This paper focuses on velocity control in a right-turn traffic scenario. A Markov Decision Processes(MDPs) is modeled and the actor-critic reinforcement learning architecture is employed. Then the kernel-based least squares policy iteration algorithm(KLSPI) is applied. Simulation results show that the proposed method can perform different policy in different cases, which preliminarily verify the rationality.
DOI:	10.1109/CAC.2017.8243896