Safety Reinforced Model Predictive Control (SRMPC): Improving MPC with Reinforcement Learning for Motion Planning in Autonomous Driving.
Johannes FischerMarlon SteinerÖmer Sahin TasChristoph StillerPublished in: ITSC (2023)
Keyphrases
- motion planning
- model predictive control
- autonomous driving
- reinforcement learning
- mpc algorithm
- predictive control
- trajectory planning
- degrees of freedom
- control system
- control law
- mobile robot
- path planning
- grand challenge
- humanoid robot
- robotic tasks
- obstacle avoidance
- stereo vision
- multi robot
- closed loop
- robotic arm
- collision free
- optimal control
- configuration space
- vision algorithms
- machine learning
- markov decision processes
- post processing
- climbing robot
- urban traffic
- vision system
- fuzzy logic
- dynamic model
- state space
- dynamic programming