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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Main Authors: | Xia Hua, Tengteng Zhang, Xiangle Cheng, Xiaobin Ning |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2024-11-01
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Series: | Technologies |
Subjects: | |
Online Access: | https://www.mdpi.com/2227-7080/12/11/218 |
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