Navigating occluded intersections with autonomous vehicles using deep reinforcement learning

David Isele, Reza Rahimi, Akansel Cosgun, Kaushik Subramanian, Kikuo Fujimura

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

55 Citations (Scopus)

Abstract

Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle intersection problems. Using recent advances in Deep RL, we are able to learn policies that surpass the performance of a commonly-used heuristic approach in several metrics including task completion time and goal success rate and have limited ability to generalize. We then explore a system's ability to learn active sensing behaviors to enable navigating safely in the case of occlusions. Our analysis, provides insight into the intersection handling problem, the solutions learned by the network point out several shortcomings of current rule-based methods, and the failures of our current deep reinforcement learning system point to future research directions.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA 2018)
EditorsPeter Corke, Nancy M. Amato, Megan Emmons, Yoshihiko Nakamura, Markus Vincze
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages2034-2039
Number of pages6
ISBN (Electronic)9781538630815, 9781538630808
ISBN (Print)9781538630822
DOIs
Publication statusPublished - 10 Sep 2018
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2018 - Brisbane Convention & Exhibition Centre, Brisbane, Australia
Duration: 21 May 201825 May 2018
https://icra2018.org/ (Website)
https://ieeexplore.ieee.org/xpl/conhome/8449910/proceeding (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)1050-4729

Conference

ConferenceIEEE International Conference on Robotics and Automation 2018
Abbreviated titleICRA 2018
CountryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

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