3D robotic navigation using a vision-based deep reinforcement learning model

Piotr Zielinski, Urszula Markowska-Kaczmar

Abstract: Highlights•Examining vision-based, deep reinforcement learning approach for Autonomous Underwater Vehicle (AUV) navigation.•Proposing and analyzing reward function components relevant to a 3D navigation problem.•Researching various image processing methods and visual features’ complexity used in the AUV controller.•Evaluating the solution in a realistic simulation environment, regarding its success rate, achieved reward value and prediction speed.