中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
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
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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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