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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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-03-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/9/3/201 |
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| Summary: | 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-based Q-learning (CMQL) algorithm. This algorithm is robust to unknown disturbance and efficient in data utilization. The CMQL-based controller is trained offline with dynamics and kinematics models constructed from limited AUV motion data and requires no additional fine-tuning for deployment. These models, constructed by improved conditional neural processes, enable accurate long-term motion state predictions within the data distribution. Additionally, the carefully designed state space, action space, reward function, and domain randomization ensure strong generalization and disturbance rejection without extra compensation. Simulation results demonstrate that CMQL achieves effective path-following under unknown ocean currents with a limited dataset of only 1000 data points. This method also achieves zero-shot transfer, demonstrating its generalization and potential for real-world applications. |
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| ISSN: | 2504-446X |