Safe Reinforcement Learning With Stability Guarantee for Motion Planning of Autonomous Vehicles.
Lixian ZhangRuixian ZhangTong WuRui WengMinghao HanYe ZhaoPublished in: IEEE Trans. Neural Networks Learn. Syst. (2021)
Keyphrases
- motion planning
- autonomous vehicles
- path planning
- obstacle avoidance
- reinforcement learning
- mobile robot
- trajectory planning
- robot control
- structured environments
- robot arm
- multi robot
- degrees of freedom
- robotic tasks
- humanoid robot
- collision avoidance
- control law
- state space
- mechanical systems
- configuration space
- learning algorithm
- autonomous mobile robot
- optimal path
- dynamic environments
- optimal policy
- robotic arm
- multi agent
- dynamic programming
- real robot
- cooperative
- collision free
- control strategies
- mathematical model
- image sequences
- computer vision