{"id":"https://openalex.org/W4388726334","doi":"https://doi.org/10.1109/iecon51785.2023.10312041","title":"Reinforcement Learning Based Path Tracking Control Method for Unmanned Bicycle on Complex Terrain","display_name":"Reinforcement Learning Based Path Tracking Control Method for Unmanned Bicycle on Complex Terrain","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4388726334","doi":"https://doi.org/10.1109/iecon51785.2023.10312041"},"language":"en","primary_location":{"id":"doi:10.1109/iecon51785.2023.10312041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon51785.2023.10312041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001890272","display_name":"Benyan Huo","orcid":"https://orcid.org/0000-0002-7187-8211"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Benyan Huo","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University,Zhengzhou,China","School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University,Zhengzhou,China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104052051","display_name":"Long Yu","orcid":"https://orcid.org/0000-0002-7666-6840"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Yu","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University,Zhengzhou,China","School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University,Zhengzhou,China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006721216","display_name":"Yanhong Liu","orcid":"https://orcid.org/0000-0002-7349-5871"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhong Liu","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University,Zhengzhou,China","School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University,Zhengzhou,China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109656104","display_name":"Shiyu Sha","orcid":null},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyu Sha","raw_affiliation_strings":["School of Electrical and Information Engineering, Zhengzhou University,Zhengzhou,China","School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University,Zhengzhou,China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I38877650"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8569523096084595},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8563283085823059},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6888644695281982},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6159709692001343},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6029667258262634},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5688109397888184},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.547885537147522},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5055210590362549},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4896584153175354},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4363774061203003},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.420958012342453},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41796523332595825},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35614699125289917},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34776484966278076},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24162358045578003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23634234070777893},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.056870847940444946}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8569523096084595},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8563283085823059},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6888644695281982},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6159709692001343},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6029667258262634},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5688109397888184},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.547885537147522},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5055210590362549},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4896584153175354},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4363774061203003},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.420958012342453},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41796523332595825},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35614699125289917},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34776484966278076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24162358045578003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23634234070777893},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.056870847940444946},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon51785.2023.10312041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon51785.2023.10312041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1499408472","https://openalex.org/W1986601797","https://openalex.org/W2073578160","https://openalex.org/W2122650618","https://openalex.org/W2135493101","https://openalex.org/W2296073425","https://openalex.org/W2317357877","https://openalex.org/W2744199790","https://openalex.org/W2787938642","https://openalex.org/W2963864421","https://openalex.org/W2967727187","https://openalex.org/W3011120880","https://openalex.org/W3102169904","https://openalex.org/W3139377883","https://openalex.org/W3197522818","https://openalex.org/W4214717370","https://openalex.org/W4298857966","https://openalex.org/W4366449935","https://openalex.org/W6637967152","https://openalex.org/W6684921986","https://openalex.org/W6748839928"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W4384026392","https://openalex.org/W1977229594","https://openalex.org/W4285089922"],"abstract_inverted_index":{"Unmanned":[0],"bicycle":[1,20,42,96],"motion":[2],"control":[3,21,52,84,99],"has":[4],"received":[5],"increasing":[6],"attention":[7],"in":[8,54],"recent":[9],"years,":[10],"and":[11,29,73],"most":[12],"studies":[13],"focused":[14],"on":[15,100],"flat":[16],"terrain.":[17],"However,":[18],"practical":[19],"scenarios":[22],"require":[23],"consideration":[24],"of":[25,62,70],"diverse":[26],"road":[27],"conditions":[28],"terrains.":[30,102],"In":[31],"this":[32],"paper,":[33],"we":[34,66],"propose":[35],"a":[36],"reinforcement":[37],"learning-based":[38],"algorithm":[39,64,92],"for":[40],"unmanned":[41,95],"path":[43,97],"tracking,":[44],"which":[45],"maps":[46],"the":[47,60,68,81,85],"system":[48],"states":[49],"directly":[50],"to":[51,78,83],"commands":[53],"an":[55],"end-to-end":[56],"manner.":[57],"To":[58],"overcome":[59],"challenge":[61],"poor":[63],"convergence,":[65],"apply":[67],"concept":[69],"curriculum":[71],"learning":[72],"devise":[74],"multiple":[75],"training":[76],"curricula":[77],"progressively":[79],"train":[80],"agent":[82],"bicycle.":[86],"Simulation":[87],"results":[88],"demonstrate":[89],"that":[90],"our":[91],"achieves":[93],"successful":[94],"tracking":[98],"complex":[101]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}