Deep Reinforcement Learning Based Adaptation of Pure-Pursuit Path-Tracking Control for Skid-Steered Vehicles

Author:

Joglekar Ajinkya,Sathe Sumedh,Misurati Nicola,Srinivasan Srivatsan,Schmid Matthias J.,Krovi Venkat

Publisher

Elsevier BV

Subject

General Medicine

Reference23 articles.

1. General dynamic model for skid-steer mobile manipulators with wheel–ground interactions;Aguilera-Marinovic;IEEE/ASME Transactions on Mechatronics,2017

2. CasADi – A software framework for nonlinear optimization and optimal control;Andersson;Mathematical Programming Computation,2019

3. Deep reinforcement learning based path tracking controller for autonomous vehicle;Chen;Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering,2020

4. Clearpath (2020). Husky - outdoor field research robot by clearpath. URL https://clearpathrobotics.com/husky-unmanned-ground-vehicle-robot/.

5. Implementation of the pure pursuit path tracking algorithm;Coulter,1992

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