Path tracking control of non-holonomic car-like robot with reinforcement learning

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper investigates the use of reinforcement learning in solving the path-tracking problem for car-like robots. The reinforcement learner uses a case-based function approximator, to extend the standard reinforcement learning paradigm to handle continuous states. The learned controller performs comparable to the best traditional control functions in both simulation and also in practical driving.

Original languageEnglish
Title of host publicationRoboCup-99
Subtitle of host publicationRobot Soccer World Cup III
EditorsManuela Veloso, Enrico Pagello, Hiroaki Kitano
PublisherSpringer Verlag
Pages162-173
Number of pages12
ISBN (Print)9783540410430
Publication statusPublished - 2000 Jan 1
Event3rd Robot World Cup Soccer Games and Conferences, RoboCup 1999 - Stockholm, Sweden
Duration: 1999 Jul 271999 Aug 6

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1856
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other3rd Robot World Cup Soccer Games and Conferences, RoboCup 1999
CountrySweden
CityStockholm
Period99/7/2799/8/6

Fingerprint

Path Tracking
Nonholonomic
Reinforcement learning
Tracking Control
Reinforcement Learning
Railroad cars
Robot
Robots
Control Function
Reinforcement
Paradigm
Controller
Controllers
Simulation
Standards

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Baltes, H. J., & Lin, Y. (2000). Path tracking control of non-holonomic car-like robot with reinforcement learning. In M. Veloso, E. Pagello, & H. Kitano (Eds.), RoboCup-99: Robot Soccer World Cup III (pp. 162-173). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1856). Springer Verlag.

Path tracking control of non-holonomic car-like robot with reinforcement learning. / Baltes, Hansjoerg (Jacky); Lin, Yuming.

RoboCup-99: Robot Soccer World Cup III. ed. / Manuela Veloso; Enrico Pagello; Hiroaki Kitano. Springer Verlag, 2000. p. 162-173 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1856).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Baltes, HJ & Lin, Y 2000, Path tracking control of non-holonomic car-like robot with reinforcement learning. in M Veloso, E Pagello & H Kitano (eds), RoboCup-99: Robot Soccer World Cup III. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 1856, Springer Verlag, pp. 162-173, 3rd Robot World Cup Soccer Games and Conferences, RoboCup 1999, Stockholm, Sweden, 99/7/27.
Baltes HJ, Lin Y. Path tracking control of non-holonomic car-like robot with reinforcement learning. In Veloso M, Pagello E, Kitano H, editors, RoboCup-99: Robot Soccer World Cup III. Springer Verlag. 2000. p. 162-173. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
Baltes, Hansjoerg (Jacky) ; Lin, Yuming. / Path tracking control of non-holonomic car-like robot with reinforcement learning. RoboCup-99: Robot Soccer World Cup III. editor / Manuela Veloso ; Enrico Pagello ; Hiroaki Kitano. Springer Verlag, 2000. pp. 162-173 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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