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Titel:

Weights-varying MPC for Autonomous Vehicle Guidance: a Deep Reinforcement Learning Approach

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Zarrouki, Baha; Klos, Verena; Heppner, Nikolas; Schwan, Simon; Ritschel, Robert; Voswinkel, Rick
Abstract:
Model Predictive Control (MPC) can achieve excellent results for complex control tasks like path-following of autonomous vehicles. However, its performance depends on the right choice of a cost function for its internal optimization problem. Optimizing the cost function to different objectives is challenging and time-consuming. In this paper, we propose to automatically learn context-dependent optimal weights for the cost function with Deep Reinforcement Learning and to adapt the weights online....     »
Kongress- / Buchtitel:
2021 European Control Conference (ECC)
Verlag / Institution:
IEEE
Publikationsdatum:
29.06.2021
Jahr:
2021
Volltext / DOI:
doi:10.23919/ecc54610.2021.9655042
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