Safety Aware Autonomous Path Planning Using Model Predictive Reinforcement Learning for Inland Waterways

no code implementations • 16 Nov 2023 • Astrid Vanneste, Simon Vanneste, Olivier Vasseur, Robin Janssens, Mattias Billast, Ali Anwar, Kevin Mets, Tom De Schepper, Siegfried Mercelis, Peter Hellinckx

We demonstrate our approach on two scenarios and compare the resulting path with path planning using a Frenet frame and path planning based on a proximal policy optimization (PPO) agent.

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