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Speed Tracking Control using Online Reinforcement Learning in a Real Car

Puccetti, Luca ORCID iD icon 1; Köpf, Florian 1; Rathgeber, Christian; Hohmann, Sören 1
1 Institut für Regelungs- und Steuerungssysteme (IRS), Karlsruher Institut für Technologie (KIT)


Reinforcement learning has the potential to improve classical control design methods in numerous applications. However, tracking control is still a challenge. Varying the target over time can cause the learning process to fail since the agent is unable to discern between trajectory and system dynamics. Only if the control target is assumed to be constant, a value function can be constructed.
To solve this problem we propose to manipulate the state-action-reward-state tuples for training to simulate a constant target within each tuple. We further demonstrate that this mechanism can be used to move exploration noise to the trajectory. We successfully apply the presented reinforcement learning algorithm to speed control with varying setpoints both to a simulation model and a real-world road vehicle.

DOI: 10.1109/ICCAR49639.2020.9108051
Zitationen: 10
Zitationen: 11
Zugehörige Institution(en) am KIT Institut für Regelungs- und Steuerungssysteme (IRS)
Publikationstyp Proceedingsbeitrag
Publikationsmonat/-jahr 04.2020
Sprache Englisch
Identifikator ISBN: 978-1-72816-140-2
KITopen-ID: 1000117776
Erschienen in 2020, The 6th International Conference on Control, Automation and Robotics, Singapore, April 20 - 23, 2020, ICCAR 2020
Veranstaltung 6th International Conference on Control, Automation and Robotics (ICCAR 2020), Singapur, Singapur, 20.04.2020 – 23.04.2020
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 978-1-72816-140-2
Schlagwörter Machine Learning in Control Applications, Vehicle Control Applications, Engineering Applications
Nachgewiesen in Scopus
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