Learning to Steer on Winding Tracks Using Semi-Parametric Control Policies

@article{Alton2005LearningTS,
  title={Learning to Steer on Winding Tracks Using Semi-Parametric Control Policies},
  author={Kenneth Robert Alton and Michiel van de Panne},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  year={2005},
  pages={4588-4593}
}
We present a semi-parametric control policy representation and use it to solve a series of nonholonomic control problems with input state spaces of up to 7 dimensions. A nearest-neighbor control policy is represented by a set of nodes that induce a Voronoi partitioning of the input space. The Voronoi cells then define local control actions. Direct policy search is applied to optimize the node locations and actions. The selective addition of nodes allows for progressive refinement of the control… CONTINUE READING