Model-Based Offline Reinforcement Learning for AUV Path-Following Under Unknown Ocean Currents with Limited Data

Model-Based Offline Reinforcement Learning for AUV Path-Following Under Unknown Ocean Currents with Limited Data

Minimizing experimental data while maintaining good AUV path-following performance is essential to reduce controller design costs and ensure AUV safety, particularly in complex and dynamic underwater environments with unknown ocean currents. To address this, we propose a conservative offline model-b...

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Bibliographic Details
Main Authors: Xinmao Li, Lingbo Geng, Kaizhou Liu, Yifeng Zhao
Format: Article
Language:English
Published: MDPI AG 2025-03-01
Series:Drones
Subjects:
autonomous underwater vehicle
path-following control
model-based offline reinforcement learning
conditional neural processes
limited data
Online Access:https://www.mdpi.com/2504-446X/9/3/201
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