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

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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Bibliographic Details
Main Authors: Xia Hua, Tengteng Zhang, Xiangle Cheng, Xiaobin Ning
Format: Article
Language:English
Published: MDPI AG 2024-11-01
Series:Technologies
Subjects:
4WISD vehicles
path tracking
deep reinforcement learning
experience replay
information bottleneck
actor-critic architecture
Online Access:https://www.mdpi.com/2227-7080/12/11/218
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