Evolving the autosteering of a car with realistically simulated steering response

Created by W.Langdon from gp-bibliography.bib Revision:1.7954

@InProceedings{Nikulin:2017:SICE,

• author = "Vsevolod Nikulin and Albert Podusenko and Ivan Tanev and Katsunori Shimohara",
• booktitle = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)",
• title = "Evolving the autosteering of a car with realistically simulated steering response",
• year = "2017",
• pages = "1628--1633",
• abstract = "In our work we consider the area of intelligent road vehicles, especially, the topic of automated vehicles. Automated control of steering wheels combined with automated braking and cruise control would eventually provide a safe and comfortable driving experience in future. Focusing on the importance of the automated steering, we address the challenge of automated control for keeping the car in the middle of the lane. This research is focused on of the most powerful unsupervised machine learning approach: genetic programming, employed to evolve the steering of the car, with realistically simulated in steering system in TORCS environment. The realism of steering is modelled by both (i) a delay of response to the steering input, and (ii) a rate limit of turning the front wheels of the car. In order to evolve the steering control of such a car, we propose an incremental genetic programming in which the evolution commences on an ideal car with instant steering response. Then, the delay increases gradually (from 0 ms of the ideal car to the value of the actual steering delay of 400 ms) as the quality of steering (fitness function) satisfies a predetermined criterion. The experimental results suggest that the proposed incremental genetic programming achieves a superior quality of steering control in both the mean deviation of the trajectory of the car from the centre of the lane, and the steering oscillations are lower.",
• keywords = "genetic algorithms, genetic programming",
• DOI = "doi:10.23919/SICE.2017.8105642",
• month = sep,
• notes = "Also known as \cite{8105642}",

}

Genetic Programming entries for Vsevolod Nikulin Albert Podusenko Ivan T Tanev Katsunori Shimohara

Citations