Enhancing DRL-based USV navigation with CVAE and gated graph convolutional networks

• Main Author: Deng, Haoyuan
• Other Authors: Jiang Xudong
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering; Conditional variational autoencoder; GatedGCN; Reinforcement learning; Maritime navigation; Unmanned surface vehicles
• Online Access: https://hdl.handle.net/10356/181856
• Institution: Nanyang Technological University

This thesis introduces a novel Conditional Variational Autoencoder (CVAE) integrated with a Gated Graph Convolutional Network (GatedGCN) for Reinforcement Learning (RL), specifically designed for the complex and dynamic environment of maritime navigation. The CVAE-GatedGCN-RL model is engineered to...