%0 Conference Paper %B CAT Vehicle Research Experience for Undergraduates %D 2019 %T Reinforcement Learning for Autonomous Driving using CAT Vehicle Testbed %A John Nguyen %A Hoang Huynh %A Eric Av %A Rahul Bhadani %A Tamal Bose %K Autonomous Systems %K Machine Learning %X

We discuss a deep reinforcement learning implementation using the CAT Vehicle Testbed and discuss the merits of simulation-based deep reinforcement learning. After implementing a simple 3 layered neural network which learned using deep Q-learning, we found some challenges associated with ROS and Gazebo. In spite of these challenges, we demonstrate that our reinforcement learning architecture can teach a car to avoid obstacles. With these preliminary results, we discuss what new things we can do and how we can implement more advanced methods.

%B CAT Vehicle Research Experience for Undergraduates %I The University of Arizona %C Tucson %8 08/2019 %G eng %U http://csl.arizona.edu/content/reinforcement-learning-autonomous-driving-using-cat-vehicle-testbed %9 Technical Report