Autonomous Driving in Roundabout Maneuvers Using Reinforcement Learning with Q-Learning
Navigating roundabouts is a complex driving scenario for both manual and autonomous vehicles. This paper proposes an approach based on the use of the Q-learning algorithm to train an autonomous vehicle agent to learn how to appropriately navigate roundabouts. The proposed learning algorithm is imple...
| Autores: | , , , |
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| Formato: | artículo |
| Fecha de publicación: | 2019 |
| País: | España |
| Recursos: | Universidad Europea (UEM) |
| Repositorio: | ABACUS. Repositorio de Producción Científica |
| Idioma: | inglés |
| OAI Identifier: | oai:abacus.universidadeuropea.com:11268/8460 |
| Acesso em linha: | http://hdl.handle.net/11268/8460 |
| Access Level: | acceso abierto |
| Palavra-chave: | Vehículos Inteligencia artificial Data mining Vehículo automotor Procesamiento de datos |
| Resumo: | Navigating roundabouts is a complex driving scenario for both manual and autonomous vehicles. This paper proposes an approach based on the use of the Q-learning algorithm to train an autonomous vehicle agent to learn how to appropriately navigate roundabouts. The proposed learning algorithm is implemented using the CARLA simulation environment. Several simulations are performed to train the algorithm in two scenarios: navigating a roundabout with and without surrounding traffic. The results illustrate that the Q-learning-algorithm-based vehicle agent is able to learn smooth and efficient driving to perform maneuvers within roundabouts. |
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