AUV path planning in complex 3D underwater environments based on an improved TD3 algorithm

doi:10.1016/j.oceaneng.2025.123688

AUV path planning in complex 3D underwater environments based on an improved TD3 algorithm

2025-12-05

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DOI：10.1016/j.oceaneng.2025.123688

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• An enhanced TD3 algorithm integrates reward-sensitive PER, N-step returns, and adaptive noise for robust 3D AUV planning. • The method achieves faster convergence, competitive path length with larger obstacle clearance, and sub-50ms inference. • The proposed model-free framework confirms real-time feasibility for AUV navigation in complex dynamic environments.

AUV path planning in complex 3D underwater environments based on an improved TD3 algorithm

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