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Three-dimensional path-following control of an autonomous underwater vehicle based on deep reinforcement learning

Liang Zhenyu, Qu Xingru, Zhang Zhao, Chen Cong

Polish Maritime Research

2022

nr 4

36--44

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.

Report on research with biomimetic autonomous underwater vehicle low level control

Praczyk T., Szymak P., Naus K., Pietrukaniec L., Hożyń S.

Zeszyty Naukowe Akademii Marynarki Wojennej

2018

R. 59 nr 1 (212)

105--123

The paper presents the first part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.

W artykule przedstawiono część pierwszą końcowego raportu z prac zrealizowanych w ramach projektu „Autonomiczne pojazdy podwodne z cichym napędem falowym” współfinansowanego przez Narodowe Centrum Badań rozwoju w latach 2013–2017.

Report on research with biomimetic autonomous underwater vehicle — navigation and autonomous operation

Praczyk T., Szymak P., Naus K., Pietrukaniec L., Hożyń S.

Zeszyty Naukowe Akademii Marynarki Wojennej

2018

R. 59 nr 2 (213)

53--67

The paper presents the second part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments on the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on navigation and autonomous operation.

W artykule przedstawiono część drugą końcowego raportu z prac zrealizowanych w ramach projektu „Autonomiczne pojazdy podwodne z cichym napędem falowym” współfinansowanego przez Narodowe Centrum Badań rozwoju w latach 2013–2017.