A DDPG-Based USV Path-Planning Algorithm

Abstract

Path planning is crucial in the automatic navigation of USVs (unmanned underwater vehicles), which directly affects the operational efficiency and safety of USVs. In this paper, we propose a path-planning algorithm based on DDPG (Deep Deterministic Policy Gradient) and make a detailed comparison with the traditional A-Star algorithm and the recent Actor–Critical algorithm. Through a series of simulation experiments, it can be observed that the optimal path for USVs found by the DDPG-based path planning algorithm is faster and more accurate than that found by the other two methods. The experimental results show that the DDPG algorithm has a significant advantage in processing time and better performance in terms of path quality and safety. These results provide a strong reference for future research on automatic navigation for USVs and demonstrate the potential of DDPG-based path planning for USVs.

Keywords

• USV
• DDPG
• path planning
• DRL