Path planning for vehicle platoons under routing decisions: a distributed approach combining Deep Reinforcement Learning and Model Predictive Control.
Francesco GianniniGiancarlo FortinoGiuseppe FranzèFrancesco PupoPublished in: CoDIT (2022)
Keyphrases
- path planning
- model predictive control
- autonomous vehicles
- reinforcement learning
- routing decisions
- mobile robot
- path planning algorithm
- multiple robots
- collision avoidance
- obstacle avoidance
- multi robot
- motion planning
- ground vehicles
- control system
- predictive control
- dynamic and uncertain environments
- multi agent
- dynamic environments
- robot path planning
- indoor environments
- optimal path
- path finding
- autonomous navigation
- potential field
- real time
- aerial vehicles
- path planner
- real robot
- search and rescue
- multi robot systems
- degrees of freedom
- decision makers
- state space
- unmanned aerial vehicles
- robot control
- learning algorithm
- collision free
- configuration space