Deep Deterministic Path Following

04/13/2021

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by   Georg Hess, et al.

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This paper deploys the Deep Deterministic Policy Gradient (DDPG) algorithm for longitudinal and lateral control of a simulated car to solve a path following task. The DDPG agent was implemented using PyTorch and trained and evaluated on a custom kinematic bicycle environment created in Python. The performance was evaluated by measuring cross-track error and velocity error, relative to a reference path. Results show how the agent can learn a policy allowing for small cross-track error, as well as adapting the acceleration to minimize the velocity error.