Recurrent Neural Network-Based Model Predictive Control for Waypoint Tracking
- Title
- Recurrent Neural Network-Based Model Predictive Control for Waypoint Tracking
- Author
- 정정주
- Keywords
- waypoint tracking control; model predictive control; recurrent neural network; vehicle lateral control; lane keeping system
- Issue Date
- 2019-05
- Publisher
- 한국자동차공학회
- Citation
- 2019 한국자동차공학회 춘계학술대회 , Page. 799-802
- Abstract
- This paper presents an recurrent neural network-based model predictive control for an autonomous driving vehicle. Model predictive control is effective in vehicle lateral control but too computationally expensive to be applied in real-time control. To resolve this problem, we propose a recurrent neural network-based approximate model predictive control. The offline-trained neural network exhibits the ability to model the waypoint tracking system and provided the closed-loop performance. The performance of the approximate recurrent neural network-model predictive control (RNN-MPC) is validated by computational experiments of waypoints tracking control scheme.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE08747888https://repository.hanyang.ac.kr/handle/20.500.11754/111633
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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