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A Decentralized Reinforcement Learning Controller For Collaborative Driving

Luke Ng, University of Waterloo
Christopher M. Clark, University of Waterloo
Jan P. Huissoon, University of Waterloo

Article comments

Copyright © 2006 IFAC. The definitive version is available at http://www.ifac-papersonline.net/Detailed/29815.html.

NOTE: At the time of publication, the author Christopher Clark was not yet affiliated with Cal Poly.

Abstract

Research in the collaborative driving domain strives to create control systems that coordinate the motion of multiple vehicles in order to navigate traffic both efficiently and safely. In this paper a novel individual vehicle controller based on reinforcement learning is introduced. This controller is capable of both lateral and longitudinal control while driving in a multi-vehicle platoon. The design and development of this controller is discussed in detail and simulation results showing learning progress and performance are presented.

Suggested Citation

Luke Ng, Christopher M. Clark, and Jan P. Huissoon. "A Decentralized Reinforcement Learning Controller For Collaborative Driving" Proceeings of the First IFAC Workshop on Multi-Vehicle Systems.. Oct. 2006.
Available at: http://works.bepress.com/cmclark/22