{"id":"https://openalex.org/W4414404960","doi":"https://doi.org/10.1109/tvt.2025.3612571","title":"Autonomous Underwater Vehicle Safety Path Planning Method Based on Constraint Reinforcement Learning","display_name":"Autonomous Underwater Vehicle Safety Path Planning Method Based on Constraint Reinforcement Learning","publication_year":2025,"publication_date":"2025-09-22","ids":{"openalex":"https://openalex.org/W4414404960","doi":"https://doi.org/10.1109/tvt.2025.3612571"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3612571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3612571","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047235170","display_name":"Hao Lu","orcid":"https://orcid.org/0000-0002-5504-388X"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hao Lu","raw_affiliation_strings":["National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5504-388X","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101011156","display_name":"Zhuo Wang","orcid":"https://orcid.org/0009-0007-0341-3096"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuo Wang","raw_affiliation_strings":["National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0007-0341-3096","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036004193","display_name":"Guiqiang Bai","orcid":"https://orcid.org/0000-0002-3917-5700"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guiqiang Bai","raw_affiliation_strings":["Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0002-3917-5700","affiliations":[{"raw_affiliation_string":"Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076687329","display_name":"Hongde Qin","orcid":"https://orcid.org/0000-0002-9794-4491"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongde Qin","raw_affiliation_strings":["National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9794-4491","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":null,"display_name":"Wucan Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wucan Yang","raw_affiliation_strings":["National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047235170"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":1.1332,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82668015,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"75","issue":"3","first_page":"3800","last_page":"3815"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9408000111579895,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.933899998664856,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7146000266075134},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.7128000259399414},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.585099995136261},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.541700005531311},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5371000170707703},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5343999862670898},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.3986000120639801},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.38499999046325684}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7146000266075134},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.7128000259399414},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.585099995136261},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.541700005531311},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5371000170707703},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5343999862670898},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4717000126838684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43479999899864197},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3986000120639801},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3928999900817871},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.38499999046325684},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.3637000024318695},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36090001463890076},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35420000553131104},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.35260000824928284},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C124584101","wikidata":"https://www.wikidata.org/wiki/Q1053266","display_name":"Multiplier (economics)","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3028999865055084},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2992999851703644},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.29429998993873596},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.2831999957561493}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3612571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3612571","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1291731077","display_name":null,"funder_award_id":"62173104","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2137583584","display_name":null,"funder_award_id":"WDZC20255290305","funder_id":"https://openalex.org/F4320328373","funder_display_name":"National Key Laboratory Foundation of China"},{"id":"https://openalex.org/G2792922415","display_name":null,"funder_award_id":"52025111","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4710913493","display_name":null,"funder_award_id":"U21A20490","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6122871775","display_name":null,"funder_award_id":"52401365","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6480321500","display_name":null,"funder_award_id":"52131101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320328373","display_name":"National Key Laboratory Foundation of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2014824949","https://openalex.org/W2991391803","https://openalex.org/W3015082424","https://openalex.org/W3150718622","https://openalex.org/W4214735187","https://openalex.org/W4285256386","https://openalex.org/W4285257830","https://openalex.org/W4295308636","https://openalex.org/W4308159282","https://openalex.org/W4311418673","https://openalex.org/W4312727189","https://openalex.org/W4313050026","https://openalex.org/W4313184910","https://openalex.org/W4313430878","https://openalex.org/W4315605995","https://openalex.org/W4319990602","https://openalex.org/W4327662929","https://openalex.org/W4362500725","https://openalex.org/W4367839715","https://openalex.org/W4375928571","https://openalex.org/W4379033953","https://openalex.org/W4382317755","https://openalex.org/W4385251244","https://openalex.org/W4387368532","https://openalex.org/W4387952116","https://openalex.org/W4388562190","https://openalex.org/W4389426070","https://openalex.org/W4390224434","https://openalex.org/W4390905281","https://openalex.org/W4393033207","https://openalex.org/W4393058646","https://openalex.org/W4394698794","https://openalex.org/W4394863512","https://openalex.org/W4396634246","https://openalex.org/W4396712765","https://openalex.org/W4398242191","https://openalex.org/W4399487564","https://openalex.org/W4399934642","https://openalex.org/W4400189256","https://openalex.org/W4400953891","https://openalex.org/W4403049697"],"related_works":[],"abstract_inverted_index":{"The":[0,27,109,192],"high":[1],"cost":[2],"of":[3,14,47,56,73,106,123,151],"the":[4,10,45,54,57,62,67,71,74,82,88,96,99,104,113,121,124,130,139,149,152,155,184,189],"Autonomous":[5],"Underwater":[6],"Vehicle":[7],"(AUV)":[8],"and":[9,12,77,134,180,188,206,212],"complexity":[11],"unpredictability":[13],"underwater":[15,146,214],"environments":[16],"highlight":[17],"safety":[18,46,72,105,122],"as":[19],"a":[20,160,169],"primary":[21],"concern":[22],"in":[23,40,144,168,210],"AUV":[24,50,58,107,153],"path":[25,51,201],"planning.":[26,52],"Leash":[28],"Actor-Critic":[29,100],"(LAC)":[30],"method":[31,91,111,133,165],"based":[32],"on":[33],"Constraint":[34],"Reinforcement":[35],"Learning":[36],"(CRL)":[37],"is":[38,79,92,157],"proposed":[39],"this":[41],"paper":[42],"to":[43,66,94,102,115,129,137,154,176],"enhance":[44],"decision-making":[48,126],"within":[49],"First,":[53],"actions":[55,78],"are":[59],"derived":[60],"from":[61,183],"CRL":[63],"framework":[64,101],"corresponding":[65],"current":[68,178],"state.":[69],"Subsequently,":[70],"AUV's":[75,125],"state":[76],"estimated":[80],"by":[81],"Emergency":[83],"Safe":[84],"Critic":[85],"(ESC).":[86],"Finally,":[87],"Lagrange":[89,131],"multiplier":[90,132],"used":[93],"combine":[95],"ESC":[97,114,135],"with":[98,174],"optimize":[103],"strategies.":[108],"LAC":[110],"applies":[112],"curtail":[116],"perilous":[117],"actions,":[118],"thereby":[119],"guaranteeing":[120],"process.":[127],"Enhancements":[128],"help":[136],"minimize":[138],"exploration":[140],"time":[141],"for":[142],"AUVs":[143],"high-risk":[145],"environments.":[147,215],"Additionally,":[148],"adaptability":[150],"environment":[156],"improved":[158],"through":[159],"sample-based":[161],"replay":[162],"buffer.":[163],"This":[164],"was":[166],"tested":[167],"hardware-in-the-loop":[170],"simulation":[171],"system":[172],"constructed":[173],"reference":[175],"ocean":[177],"data":[179,182],"terrain":[181],"South":[185],"China":[186],"Sea":[187],"Bohai":[190],"Sea.":[191],"experimental":[193],"results":[194],"verified":[195],"its":[196],"fast":[197],"convergence":[198],"speed,":[199],"short":[200,203],"length,":[202],"travel":[204],"time,":[205],"strong":[207],"generalization":[208],"ability":[209],"unknown":[211],"unstructured":[213]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}