Reinforcement Learning-Based Autonomous Navigation and Obstacle Avoidance for USVs under Partially Observable Conditions

<div>Comparison of the UANOA algorithm, DQN, and random policy in max USV navigation distance and rudder angle switching frequency during the USV navigation and obstacle avoidance training.</div>

Mathematical Problems in Engineering

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Figure 9

Figure 9: Reinforcement Learning-Based Autonomous Navigation and Obstacle Avoidance for USVs under Partially Observable Conditions 