{"id":"https://openalex.org/W7118846917","doi":"https://doi.org/10.1109/indin64977.2025.11279615","title":"An Integrated Approach for Path Planning and Trajectory Tracking of Unmanned Surface Vehicles Based on Reinforcement Learning and Backstepping","display_name":"An Integrated Approach for Path Planning and Trajectory Tracking of Unmanned Surface Vehicles Based on Reinforcement Learning and Backstepping","publication_year":2025,"publication_date":"2025-07-12","ids":{"openalex":"https://openalex.org/W7118846917","doi":"https://doi.org/10.1109/indin64977.2025.11279615"},"language":null,"primary_location":{"id":"doi:10.1109/indin64977.2025.11279615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin64977.2025.11279615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 23rd International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-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/A5012936330","display_name":"Aoshuang Mei","orcid":"https://orcid.org/0000-0003-3146-6877"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aoshuang Mei","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100708903","display_name":"Peng Han","orcid":"https://orcid.org/0000-0003-1612-6612"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Han","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057726752","display_name":"Bofeng Su","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bofeng Su","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122209356","display_name":"Kuan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146919","display_name":"Shanghai Industrial Technology Institute","ror":"https://ror.org/03j1pdd39","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210146919"]},{"id":"https://openalex.org/I4210151021","display_name":"Shanghai Institute of Computing Technology","ror":"https://ror.org/05ek0ze18","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210151021"]},{"id":"https://openalex.org/I67001856","display_name":"Shanghai Institute of Technology","ror":"https://ror.org/00fjzqj15","country_code":"CN","type":"education","lineage":["https://openalex.org/I67001856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kuan Li","raw_affiliation_strings":["Control Technology Institute,Shanghai Aerospace,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Technology Institute,Shanghai Aerospace,Shanghai,China,200240","institution_ids":["https://openalex.org/I67001856","https://openalex.org/I4210151021","https://openalex.org/I4210146919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113300715","display_name":"Yihuan Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146919","display_name":"Shanghai Industrial Technology Institute","ror":"https://ror.org/03j1pdd39","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210146919"]},{"id":"https://openalex.org/I4210151021","display_name":"Shanghai Institute of Computing Technology","ror":"https://ror.org/05ek0ze18","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210151021"]},{"id":"https://openalex.org/I67001856","display_name":"Shanghai Institute of Technology","ror":"https://ror.org/00fjzqj15","country_code":"CN","type":"education","lineage":["https://openalex.org/I67001856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihuan Jin","raw_affiliation_strings":["Control Technology Institute,Shanghai Aerospace,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Technology Institute,Shanghai Aerospace,Shanghai,China,200240","institution_ids":["https://openalex.org/I67001856","https://openalex.org/I4210151021","https://openalex.org/I4210146919"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019419996","display_name":"Hongtian Chen","orcid":"https://orcid.org/0000-0002-8600-9668"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongtian Chen","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.59278259,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.8780999779701233,"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"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.8780999779701233,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.05909999832510948,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.02070000022649765,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/backstepping","display_name":"Backstepping","score":0.7929999828338623},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6941999793052673},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6823999881744385},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6722999811172485},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5579000115394592},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49070000648498535},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4821999967098236},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4595000147819519},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44780001044273376}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7929999828338623},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6941999793052673},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6823999881744385},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6722999811172485},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5579000115394592},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49070000648498535},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4821999967098236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4620000123977661},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4595000147819519},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44780001044273376},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4187000095844269},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4138000011444092},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.3885999917984009},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36329999566078186},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.32820001244544983},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3231000006198883},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.3199000060558319},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3181000053882599},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.3043999969959259},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28450000286102295},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.2768999934196472},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26339998841285706},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/indin64977.2025.11279615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin64977.2025.11279615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 23rd International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6582950949668884}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311020","display_name":"Shanghai Academy of Spaceflight Technology","ror":"https://ror.org/01z8tr155"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326952","display_name":"State Key Laboratory of Industrial Control Technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1967071303","https://openalex.org/W2021082829","https://openalex.org/W2026074868","https://openalex.org/W2073787051","https://openalex.org/W2388591084","https://openalex.org/W2905884475","https://openalex.org/W2966477753","https://openalex.org/W3044457827","https://openalex.org/W3200454905","https://openalex.org/W4224220194","https://openalex.org/W4238545949","https://openalex.org/W4319788363","https://openalex.org/W4382135632","https://openalex.org/W4387190864","https://openalex.org/W4403936553","https://openalex.org/W4403977202","https://openalex.org/W4404840285"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,99],"novel":[4],"and":[5,16,27,43,52,68,83,107,112,125],"integrated":[6,42],"approach":[7],"for":[8,64,81],"unmanned":[9],"surface":[10],"vehicles":[11],"(USVs)":[12],"in":[13],"path":[14,32,62],"planning":[15,35],"trajectory":[17,97],"tracking":[18,67],"control":[19,69],"applications.":[20],"In":[21],"order":[22],"to":[23,91,103],"ensure":[24,104],"the":[25,34,47,53,57,60,65,71,92,105,110,113,128],"optimality":[26],"real-time":[28],"performance":[29],"of":[30,50,59,94,109,115,127],"USV\u2019s":[31],"planning,":[33],"algorithm":[36],"based":[37],"on":[38],"reinforcement":[39],"learning":[40],"is":[41,88,101,118],"improved":[44],"by":[45,120],"fusing":[46],"state":[48],"information":[49],"USVs":[51,95],"environment.":[54],"To":[55],"guarantee":[56],"smoothness":[58],"generated":[61],"curve":[63,86],"required":[66],"algorithm,":[70],"points":[72,80],"with":[73],"large":[74],"curvature":[75],"are":[76],"selected":[77],"as":[78],"key":[79],"sampling":[82],"quintic":[84],"spline":[85],"fitting":[87],"used.":[89],"According":[90],"characteristics":[93],"during":[96],"tracking,":[98,111],"controller":[100,117],"designed":[102],"stability":[106,114],"accuracy":[108],"this":[116],"proved":[119],"Lyapunov":[121],"function.":[122],"The":[123],"validity":[124],"feasibility":[126],"proposed":[129],"method":[130],"have":[131],"been":[132],"verified":[133],"through":[134],"simulation":[135],"experiments.":[136]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-08T00:00:00"}