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Hierarchical Motion Planning and Tracking for Autonomous Vehicles Using Global Heuristic Based Potential Field and Reinforcement Learning Based Predictive Control

Guodong Du 0003, Yuan Zou, Xudong Zhang 0002, Zirui Li, Qi Liu 0020. Hierarchical Motion Planning and Tracking for Autonomous Vehicles Using Global Heuristic Based Potential Field and Reinforcement Learning Based Predictive Control. IEEE Transactions on Intelligent Transportation Systems, 24(8):8304-8323, August 2023. [doi]

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