Path tracking control based on reinforcement learning of laser navigation unmanned vehicle
MU Junchen
HE Honghui
Abstract：Aiming at the problem of control accuracy of movement trajectory for intelligent storage unmanned vehicle,a path tracking control algorithm based on reinforcement learning of laser navigation unmanned vehicle was proposed.The mathematical model of intelligent storage unmanned vehicle was established,a laser navigation positioning algorithm was designed,and an Actor-Critic reinforcement learning path tracking algorithm was proposed.The high precision control of unmanned vehicle path tracking was realized.The comparative simulation verifies that the as-designed path tracking algorithm has better control effect and higher control accuracy.The maximum path tracking error is only 0.3 m;the maximum x-coordinate tracking error is only 0.1 m;the maximum y-coordinate tracking error is only 0.29 m,greatly improving the tracking accuracy of the motion trajectory of storage unmanned vehicle.
Keywords：intelligent storageunmanned vehiclelaser navigationpath trackinglocation algorithmreinforcement learningtracking controlhigh accuracy
Publication Date：2024-03-25
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 206-211 )