Synergistic Hierarchical AI Framework for USV Navigation: Closing the Loop Between Swin-Transformer Perception, T-ASTAR Planning, and Energy-Aware TD3 Control

Synergistic Hierarchical AI Framework for USV Navigation: Closing the Loop Between Swin-Transformer Perception, T-ASTAR Planning, and Energy-Aware TD3 Control

Autonomous Unmanned Surface Vehicle (USV) operations in complex ocean engineering scenarios necessitate robust navigation, guidance, and control technologies. These systems require reliable sensor-based object detection and efficient, safe, and energy-aware path planning. To address these multifacet...

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Bibliographic Details
Main Authors: Haonan Ye, Hongjun Tian, Qingyun Wu, Yihong Xue, Jiayu Xiao, Guijie Liu, Yang Xiong
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Sensors
Subjects:
unmanned surface vehicle (USV)
underwater navigation
guidance and control
ocean engineering
swin-transformer
T-ASTAR algorithm
Online Access:https://www.mdpi.com/1424-8220/25/15/4699
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