Machines, Vol. 13, Pages 603: Research on Path Tracking Technology for Tracked Unmanned Vehicles Based on DDPG-PP

Machines doi: 10.3390/machines13070603

Authors:
Yongjuan Zhao
Chaozhe Guo
Jiangyong Mi
Lijin Wang
Haidi Wang
Hailong Zhang

Realizing path tracking is crucial for improving the accuracy and efficiency of unmanned vehicle operations. In this paper, a path tracking hierarchical control method based on DDPG-PP is proposed to improve the path tracking accuracy of tracked unmanned vehicles. Constrained by the objective of minimizing path tracking error, with the upper controller, we adopted the DDPG method to construct an adaptive look-ahead distance optimizer in which the look-ahead distance was dynamically adjusted in real-time using a reinforcement learning strategy. Meanwhile, reinforcement learning training was carried out with randomly generated paths to improve the model’s generalization ability. Based on the optimal look-ahead distance output from the upper layer, the lower layer realizes precise closed-loop control of torque, required for steering, based on the PP method. Simulation results show that the path tracking accuracy of the proposed method is better than that of the LQR and PP methods. The proposed method reduces the average tracking error by 94.0% and 79.2% and the average heading error by 80.4% and 65.0% under complex paths compared to the LQR and PP methods, respectively.

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Yongjuan Zhao www.mdpi.com