Research on PID Parameter Tuning and Optimization Based on SAC-Auto for USV Path Following

Research on PID Parameter Tuning and Optimization Based on SAC-Auto for USV Path Following

Unmanned surface vessels (USVs) are required to follow a path during a task. This is essential for the USV, especially when following a curvilinear path or considering the interference of waves, and this work has been proven to be complicated. In this paper, a PID parameter tuning and optimizing met...

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Bibliographic Details
Main Authors: Lifei Song, Chuanyi Xu, Le Hao, Jianxi Yao, Rong Guo
Format: Article
Language:English
Published: MDPI AG 2022-12-01
Series:Journal of Marine Science and Engineering
Subjects:
unmanned surface vehicle
deep reinforcement learning
parameter tuning
path-following control
Online Access:https://www.mdpi.com/2077-1312/10/12/1847

Internet

https://www.mdpi.com/2077-1312/10/12/1847

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