crossrefJournal of Marine Science and Engineering2026-02-25Cited by 1
Autonomous Navigation of an Unmanned Underwater Vehicle via Safe Reinforcement Learning and Active Disturbance Rejection Control
Qinze Chen, Yun Cheng, Yinlong Yuan, Liang Hua
A two-layer control framework for unmanned underwater vehicle (UUV) navigation is proposed, combining a lower-layer active disturbance rejection controller (ADRC) with an upper-layer safe reinforcement learning (RL) policy for obstacle-avoidance navigation. The lower layer, utili…