Research on Control Strategy for Shortest Time Occupancy of AUV Based on Improved TD3

Authors

• Wenzhe Ren, School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
• Min Li, School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
• Xiangguang Zeng, School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
• Tao Zhang, School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
• Dijie Xie, School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
• Bei Peng, University of Electronic Science and Technology of China, Chengdu 611731, China

Abstract

Existing occupancy models fail to fully consider the interference of underwater time-varying ocean currents and task time constraints, and AUVs lacks real-time motion control. To address these issues, a shortest time occupancy method based on quantile regression and distributed TD3 was proposed. The Bayesian inference method was used to identify hydrodynamic parameters, and the kinematic and dynamic models of AUVs were established; the shortest time occupancy equation was constructed, and the occupancy target point and occupancy time were solved; a first-order Gauss-Markov process was introduced to simulate the time-varying ocean current environment, and the training of control strategy for AUV occupancy in ocean current scenarios with different intensities was completed based on the distributed TD3 algorithm. The simulation results indicate that this method exhibits good robustness and adaptability under dynamic ocean current interference. Especially when the ocean current intensity is high, compared with the TD3 baseline algorithm, the strategy convergence rate is improved by 30%, and the accuracy and success rate of AUV occupancy are improved by 63% and 20%, respectively.

Recommended Citation

Ren, Wenzhe; Li, Min; Zeng, Xiangguang; Zhang, Tao; Xie, Dijie; and Peng, Bei (2026) "Research on Control Strategy for Shortest Time Occupancy of AUV Based on Improved TD3," Journal of System Simulation: Vol. 38: Iss. 6, Article 15.
DOI: 10.16182/j.issn1004731x.joss.25-0682
Available at: https://dc-china-simulation.researchcommons.org/journal/vol38/iss6/15

First Page

1684

Last Page

1698

CLC

TP242.6

Recommended Citation

Ren Wenzhe, Li Min, Zeng Xiangguang, et al. Research on Control Strategy for Shortest Time Occupancy of AUV Based on Improved TD3[J]. Journal of System Simulation, 2026, 38(6): 1684-1698.

Corresponding Author

Li Min

DOI

10.16182/j.issn1004731x.joss.25-0682