Path Tracking Control for Four-Wheel Independent Steering and Driving Vehicles Based on Improved Deep Reinforcement Learning

We propose a compound control framework to improve the path tracking accuracy of a four-wheel independent steering and driving (4WISD) vehicle in complex environments. The framework consists of a deep reinforcement learning (DRL)-based auxiliary controller and a dual-layer controller. Samples in the...

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Detalhes bibliográficos

Principais autores:	Xia Hua, Tengteng Zhang, Xiangle Cheng, Xiaobin Ning
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2024-11-01
coleção:	Technologies
Assuntos:	4WISD vehicles path tracking deep reinforcement learning experience replay information bottleneck actor-critic architecture
Acesso em linha:	https://www.mdpi.com/2227-7080/12/11/218
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