Model-Based Safe Reinforcement Learning with Time-Varying State and Control Constraints: An Application to Intelligent Vehicles

Abstract

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence guarantees. Also, few works have addressed the safe RL algorithm design under time-varying safety constraints. This paper proposes a safe RL algorithm for optimal control of nonlinear systems with time-varying state and control constraints. In the proposed approach, we construct a novel barrier force-based control policy structure to guarantee control safety. A multi-step policy evaluation mechanism is proposed to predict the policy's safety risk under time-varying safety constraints and guide the policy to update safely. Theoretical results on stability and robustness are proven. Also, the convergence of the actor-critic implementation is analyzed. The performance of the proposed algorithm outperforms several state-of-the-art RL algorithms in the simulated Safety Gym environment. Furthermore, the approach is applied to the integrated path following and collision avoidance problem for two real-world intelligent vehicles. A differential-drive vehicle and an Ackermann-drive one are used to verify offline deployment and online learning performance, respectively. Our approach shows an impressive sim-to-real transfer capability and a satisfactory online control performance in the experiment.

16 pages, 12 figures

References in corpus (9)

• Robust Tube-based Model Predictive Control with Koopman Operators--Extended Version
• Benchmarking Batch Deep Reinforcement Learning Algorithms
• Learning to Utilize Shaping Rewards: A New Approach of Reward Shaping
• Safe Reinforcement Learning via Curriculum Induction
• Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function
• Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones
• CRPO: A New Approach for Safe Reinforcement Learning with Convergence Guarantee
• Context-Aware Safe Reinforcement Learning for Non-Stationary Environments
• Safe Reinforcement Learning Using Advantage-Based Intervention

Cited by in corpus (1)

• Toward Scalable Multirobot Control: Fast Policy Learning in Distributed MPC