A supervised Actor-Critic approach for adaptive cruise control
文献类型：期刊论文
| 作者 | Zhao, Dongbin ; Wang, Bin; Liu, Derong
|
| 刊名 | SOFT COMPUTING
 |
| 出版日期 | 2013-11-01 |
| 卷号 | 17期号:11页码:2089-2099 |
| 关键词 | Supervised reinforcement learning Actor-Critic Adaptive cruise control Uniformly ultimate bounded Neural networks |
| 英文摘要 | A novel supervised Actor-Critic (SAC) approach for adaptive cruise control (ACC) problem is proposed in this paper. The key elements required by the SAC algorithm namely Actor and Critic, are approximated by feed-forward neural networks respectively. The output of Actor and the state are input to Critic to approximate the performance index function. A Lyapunov stability analysis approach has been presented to prove the uniformly ultimate bounded property of the estimation errors of the neural networks. Moreover, we use the supervisory controller to pre-train Actor to achieve a basic control policy, which can improve the training convergence and success rate. We apply this method to learn an approximate optimal control policy for the ACC problem. Experimental results in several driving scenarios demonstrate that the SAC algorithm performs well, so it is feasible and effective for the ACC problem. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Computer Science, Interdisciplinary Applications |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | REINFORCEMENT ; SYSTEMS ; ACC |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000325822900011 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3878]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_智能化团队 |
| 作者单位 | 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 | Zhao, Dongbin,Wang, Bin,Liu, Derong. A supervised Actor-Critic approach for adaptive cruise control[J]. SOFT COMPUTING,2013,17(11):2089-2099. |
| APA | Zhao, Dongbin,Wang, Bin,&Liu, Derong.(2013).A supervised Actor-Critic approach for adaptive cruise control.SOFT COMPUTING,17(11),2089-2099. |
| MLA | Zhao, Dongbin,et al."A supervised Actor-Critic approach for adaptive cruise control".SOFT COMPUTING 17.11(2013):2089-2099. |
入库方式： OAI收割
来源：自动化研究所
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