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Reinforcement Learning-Based Tracking Control of USVs in Varying Operational Conditions
We present a reinforcement learning-based (RL) control scheme for trajectory tracking of fully-actuated surface vessels. The proposed method learns online both a model-based feedforward controller, as well an optimizing feedback policy in order to follow a desired trajectory under the influence of e...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2020
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806118/ https://www.ncbi.nlm.nih.gov/pubmed/33501200 http://dx.doi.org/10.3389/frobt.2020.00032 |