<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In this article, a deep reinforcement learning based three-dimensional path following control approach is proposed for an underactuated autonomous underwater vehicle (AUV). To be specific, kinematic control laws are employed by using the three-dimensional line-of-sight guidance and dynamic control laws are employed by using the twin delayed deep deterministic policy gradient algorithm (TD3), contributing to the surge velocity, pitch angle and heading angle control of an underactuated AUV. In order to solve the chattering of controllers, the action filter and the punishment function are built respectively, which can make control signals stable. Simulations are carried out to evaluate the performance of the proposed control approach. And results show that the AUV can complete the control mission successfully.</p>
</abstract>

In this article, a deep reinforcement learning based three-dimensional path following control approach is proposed for an underactuated autonomous underwater vehicle (AUV). To be specific, kinematic control laws are employed by using the three-dimensional line-of-sight guidance and dynamic control laws are employed by using the twin delayed deep deterministic policy gradient algorithm (TD3), contributing to the surge velocity, pitch angle and heading angle control of an underactuated AUV. In order to solve the chattering of controllers, the action filter and the punishment function are built respectively, which can make control signals stable. Simulations are carried out to evaluate the performance of the proposed control approach. And results show that the AUV can complete the control mission successfully.

Three-Dimensional Path-Following Control of an Autonomous Underwater Vehicle Based on Deep Reinforcement Learning

Polish Maritime Research

This work is licensed under the Creative Commons Attribution 4.0 International License.

In this article, a deep reinforcement learning based three-dimensional path following control approach is proposed for an underactuated autonomous underwater...

Three-Dimensional Path-Following Control of an Autonomous Underwater Vehicle Based on Deep Reinforcement Learning

Published Online: Dec 21, 2022

Page range: 36 - 44

DOI: https://doi.org/10.2478/pomr-2022-0042

Keywords
Autonomous underwater vehicle (AUV), three-dimensional path following, deep reinforcement learning-based control, line-of-sight guidance, controller chattering

© 2022 Zhenyu Liang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Three-Dimensional Path-Following Control of an Autonomous Underwater Vehicle Based on Deep Reinforcement Learning

Published Online: Dec 21, 2022

Page range: 36 - 44

DOI: https://doi.org/10.2478/pomr-2022-0042

KeywordsAutonomous underwater vehicle (AUV), three-dimensional path following, deep reinforcement learning-based control, line-of-sight guidance, controller chattering

© 2022 Zhenyu Liang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Keywords
Autonomous underwater vehicle (AUV), three-dimensional path following, deep reinforcement learning-based control, line-of-sight guidance, controller chattering