自律走行車のためのニューラルネットワークベースモデル予測制御
Neural Network Based Model Predictive Control for an Autonomous Vehicle
自転車モデルを用い、モデル予測制御の代替となる学習ベース制御器を教師あり学習と強化学習で比較し、リアルタイム実装と形式検証に適した小型ネットワークを検討した。
著者: Maria Luiza Costa Vianna, Eric Goubault, Sylvie Putot
分類: cs.RO, cs.AI
原文アブストラクト
We study learning based controllers as a replacement for model predictive controllers (MPC) for the control of autonomous vehicles. We concentrate for the experiments on the simple yet representative bicycle model. We compare training by supervised learning and by reinforcement learning. We also discuss the neural net architectures so as to obtain small nets with the best performances. This work aims at producing controllers that can both be embedded on real-time platforms and amenable to verification by formal methods techniques.
