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Adaptive cruise control via adaptive dynamic programming with experience replay

文献类型：期刊论文

作者Wang, Bin1,2; Zhao, Dongbin2; Cheng, Jin1
刊名SOFT COMPUTING
出版日期2019-06-01
卷号23期号:12页码:4131-4144
关键词Adaptive cruise control Adaptive dynamic programming Experience replay Reinforcement learning Neural networks
ISSN号1432-7643
DOI10.1007/s00500-018-3063-7
通讯作者Wang, Bin(cse_wangb@ujn.edu.cn)
英文摘要The adaptive cruise control (ACC) problem can be transformed to an optimal tracking control problem for complex nonlinear systems. In this paper, a novel highly efficient model-free adaptive dynamic programming (ADP) approach with experience replay technology is proposed to design the ACC controller. Experience replay increases the data efficiency by recording the available driving data and repeatedly presenting them to the learning procedure of the acceleration controller in the ACC system. The learning framework that combines ADP with experience replay is described in detail. The distinguishing feature of the algorithm is that when estimating parameters of the critic network and the actor network with gradient rules, the gradients of historical data and current data are used to update parameters concurrently. It is proved with Lyapunov theory that the weight estimation errors of the actor network and the critic network are uniformly ultimately bounded under the novel weight update rules. The learning performance of the ACC controller implemented by this ADP algorithm is clearly demonstrated that experience replay can increase data efficiency significantly, and the approximate optimality and adaptability of the learned control policy are tested with typical driving scenarios.
WOS关键词SYSTEMS ; DESIGN
资助项目National Natural Science Foundation of China[61603150] ; National Natural Science Foundation of China[61273136] ; National Natural Science Foundation of China[61573353] ; National Natural Science Foundation of China[61533017] ; National Key Research and Development Plan[2016YFB0101000] ; Doctoral Foundation of University of Jinan[XBS1605]
WOS研究方向Computer Science
语种英语
WOS记录号WOS:000466948100018
出版者SPRINGER
资助机构National Natural Science Foundation of China ; National Key Research and Development Plan ; Doctoral Foundation of University of Jinan
源URL[http://ir.ia.ac.cn/handle/173211/24396]  
专题复杂系统管理与控制国家重点实验室_深度强化学习
通讯作者Wang, Bin
作者单位1.Univ Jinan, Sch Elect Engn, Jinan 250022, Shandong, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Bin,Zhao, Dongbin,Cheng, Jin. Adaptive cruise control via adaptive dynamic programming with experience replay[J]. SOFT COMPUTING,2019,23(12):4131-4144.
APA Wang, Bin,Zhao, Dongbin,&Cheng, Jin.(2019).Adaptive cruise control via adaptive dynamic programming with experience replay.SOFT COMPUTING,23(12),4131-4144.
MLA Wang, Bin,et al."Adaptive cruise control via adaptive dynamic programming with experience replay".SOFT COMPUTING 23.12(2019):4131-4144.

入库方式： OAI收割

来源：自动化研究所

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