中国科学:技术科学(英文版)2024,Vol.67Issue(2) :423-434.DOI:10.1007/s11431-023-2483-x

Navigation for autonomous vehicles via fast-stable and smooth reinforcement learning

ZHANG RuiXian YANG JiaNan LIANG Ye LU ShengAo DONG YiFei YANG BaoQing ZHANG LiXian
中国科学:技术科学(英文版)2024,Vol.67Issue(2) :423-434.DOI:10.1007/s11431-023-2483-x

Navigation for autonomous vehicles via fast-stable and smooth reinforcement learning

ZHANG RuiXian 1YANG JiaNan 1LIANG Ye 1LU ShengAo 1DONG YiFei 1YANG BaoQing 1ZHANG LiXian1
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作者信息

  • 1. School of Astronautics,Harbin Institute of Technology,Harbin 150001,China
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Abstract

This paper investigates the navigation problem of autonomous vehicles based on reinforcement learning(RL)with both stability and smoothness guarantees.By introducing a data-based Lyapunov function,the stability criterion in mean cost is obtained,where the Lyapunov function has a property of fast descending.Then,an off-policy RL algorithm is proposed to train safe policies,in which a more strict constraint is exerted in the framework of model-free RL to ensure the fast convergence of policy generation,in contrast with the existing RL merely with stability guarantee.In addition,by simultaneously introducing constraints on action increments and action distribution variations,the difference between the adjacent actions is effectively alleviated to ensure the smoothness of the obtained policy,instead of only seeking the similarity of the distributions of adjacent actions as commonly done in the past literature.A navigation task of a ground differentially driven mobile vehicle in simulations is adopted to demonstrate the superiority of the proposed algorithm on the fast stability and smoothness.

Key words

autonomous vehicles/navigation/reinforcement learning/smoothness/stability

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基金项目

National Natural Science Foundation of China(62225305)

National Natural Science Foundation of China(12072088)

Fundamental Research Funds for the Central Universities,China(HIT.OCEF.2022047)

Fundamental Research Funds for the Central Universities,China(H1T.BRET.2022004)

Fundamental Research Funds for the Central Universities,China(HIT.DZIJ.2023049)

State Key Laboratory of Robotics and System(HIT)(JCKY2022603C016)

Heilongjiang Touyan Team()

出版年

2024
中国科学:技术科学(英文版)
中国科学院

中国科学:技术科学(英文版)

CSTPCDEI
影响因子:1.056
ISSN:1674-7321
参考文献量35
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