Abstract
This work aims to assess the capabilities of the reinforcement learning algorithm, Proximal Policy Optimization (PPO), in developing a policy capable of controlling the speed and steering angle of a vehicle model to navigate within simulated road lines. The control system's input is a camera, and its outputs are the rotational speed of the rear wheels and the steering angle of the front wheels, controlling the vehicle's speed and direction, respectively. The algorithm is trained and tested in a simulated environment, where it receives image frames from the vehicle's camera, processes them through a feature extraction algorithm, and feeds them into the policy. For each frame, the policy outputs speed and direction commands for the vehicle. The policy is iteratively updated to enhance its performance. The reinforcement learning algorithm successfully generates a policy capable of navigating the vehicle in a simplified environment. Potential improvements are suggested to enhance the system's robustness in more complex scenarios. Creating a simulation environment suitable for testing an advanced reinforcement learning algorithm is a complex task. This project offers a framework for other developers to test different approaches and algorithms. The tested algorithm, PPO, uses proximity intervals - an innovative approach in reinforcement learning. In some scenarios, the algorithm achieved better performance than predecessor algorithms, which are typically harder to implement and require tuning more hyperparameters.
Abstract (translated)
URL
https://arxiv.org/abs/2610.33755
