Instructed reinforcement learning control of safe autonomous J-turn vehicle maneuvers

Aliasghar Arab, Jingang Yi

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

Abstract

This paper presents a safe control policy search for autonomous J-turn maneuvers inspired by professional car drivers. These drivers have been highly trained to achieve highly aggressive J-turn maneuvers that can be used as potential vehicle safety strategies in emergency situations. We take advantage of this knowledge by integrating an expert's instruction into reinforcement learning design. The proposed safe reinforcement learning method uses constrained Markov decision processing to find a risk-free control policy for autonomous J-turn maneuver. The proposed algorithms realize the control of continuous action as a sequence of policies with safety constraints. We demonstrate experimentally the development of policy design for the safe J-turn maneuver from simulations to real-world applications.

Original languageEnglish (US)
Title of host publication2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1058-1063
Number of pages6
ISBN (Electronic)9781665441391
DOIs
StatePublished - Jul 12 2021
Event2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands
Duration: Jul 12 2021Jul 16 2021

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2021-July

Conference

Conference2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
Country/TerritoryNetherlands
CityDelft
Period7/12/217/16/21

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Fingerprint

Dive into the research topics of 'Instructed reinforcement learning control of safe autonomous J-turn vehicle maneuvers'. Together they form a unique fingerprint.

Cite this