Deep Reinforcement Learning Based Tracking Control of an Autonomous Surface Vessel in Natural Waters
Wei Wang,Xiaojing Cao,Alejandro Gonzalez-Garcia,Lianhao Yin,Niklas Hagemann,Yuanyuan Qiao,Carlo Ratti,Daniela Rus,Wei Wang,Xiaojing Cao,Alejandro Gonzalez-Garcia,Lianhao Yin,Niklas Hagemann,Yuanyuan Qiao,Carlo Ratti,Daniela Rus
Accurate control of autonomous marine robots still poses challenges due to the complex dynamics of the environment. In this paper, we propose a Deep Reinforcement Learning (DRL) approach to train a controller for autonomous surface vessel (ASV) trajectory tracking and compare its performance with an advanced nonlinear model predictive controller (NMPC) in real environments. Taking into account env...
