Affiliation:
1. Navigation College, Dalian Maritime University, Dalian 116026, China
Abstract
Path planning is crucial in the automatic navigation of USVs (unmanned underwater vehicles), which directly affects the operational efficiency and safety of USVs. In this paper, we propose a path-planning algorithm based on DDPG (Deep Deterministic Policy Gradient) and make a detailed comparison with the traditional A-Star algorithm and the recent Actor–Critical algorithm. Through a series of simulation experiments, it can be observed that the optimal path for USVs found by the DDPG-based path planning algorithm is faster and more accurate than that found by the other two methods. The experimental results show that the DDPG algorithm has a significant advantage in processing time and better performance in terms of path quality and safety. These results provide a strong reference for future research on automatic navigation for USVs and demonstrate the potential of DDPG-based path planning for USVs.
Funder
National Science Foundation of China
Dalian Innovation Team Support Plan in the Key Research Field
Fundamental Research Funds for the Central Universities
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献