反向RL场景动态学习用于自动驾驶汽车的非线性预测控制
IEEE transactions on neural networks and learning systems
|March 27, 2025
概括
本研究介绍了一个用于自主导航的深度学习控制器,通过场景动态增强了轨迹预测. 该方法改进了模拟和现实世界测试中的现有方法.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 控制系统 控制系统
背景情况:
- 自主导航系统需要强大的轨迹预测和控制.
- 模型预测控制 (MPC) 是一种常见的控制策略,但通常依赖于简化模型.
- 将实时环境理解集成到控制中,对于安全和效率至关重要.
研究的目的:
- 推出一种基于深度学习的非线性模型预测控制器,具有场景动态 (DL-NMPC-SD).
- 通过学习场景动态来增强自主导航,以改进轨迹估计和系统建模.
- 评估DL-NMPC-SD的性能与既定和最先进的方法相比.
主要方法:
- 在深度神经网络中使用时间范围传感数据编码场景动态模型.
- 使用增强记忆组件来整合范围传感观测和系统状态.
- 采用反向强化学习 (IRL) 和修改的深度Q学习 (DQL) 算法进行控制器培训.
主要成果:
- DL-NMPC-SD证明了有效的轨迹估计和系统模型调整.
- 与动态窗口方法 (DWA),End2End和RL方法相比,该方法显示出具有竞争力或优异的性能.
- 在模拟,室内/室外移动机器人平台和全面的自动驾驶测试中成功验证.
结论:
- DL-NMPC-SD通过将学习的场景动态集成到模型预测控制中,为先进的自主导航提供了一个有前途的方法.
- 深度学习框架有效地接近复杂的操作条件并增强预测能力.
- 控制器在各种环境中的适应性和性能突出显示了其在现实世界应用中的潜力.
相关概念视频
01:17Open and closed-loop control systems
2.0K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
2.0K
01:26Feedback control systems
800
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
800
01:21Linear Approximation in Time Domain
460
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
460
01:26PD Controller: Design
761
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
761
01:07Time-Domain Interpretation of PD Control
500
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
500
01:19PID Controller
1.0K
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
1.0K