{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T23:06:17Z","timestamp":1773270377286,"version":"3.50.1"},"reference-count":54,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"National Key Research and Development Program of China","award":["2023YFB4707003"],"award-info":[{"award-number":["2023YFB4707003"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52025111"],"award-info":[{"award-number":["52025111"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52131101"],"award-info":[{"award-number":["52131101"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U21A20490"],"award-info":[{"award-number":["U21A20490"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62173104"],"award-info":[{"award-number":["62173104"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52401365"],"award-info":[{"award-number":["52401365"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Stable Supporting Fund of National Key Laboratory of Autonomous Marine Vehicle Technology","award":["2024-HYHXQ-WDZC05"],"award-info":[{"award-number":["2024-HYHXQ-WDZC05"]}]},{"DOI":"10.13039\/501100014206","name":"National Key Laboratory Foundation of China","doi-asserted-by":"publisher","award":["WDZC20255290305"],"award-info":[{"award-number":["WDZC20255290305"]}],"id":[{"id":"10.13039\/501100014206","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Veh. Technol."],"published-print":{"date-parts":[[2026,3]]},"DOI":"10.1109\/tvt.2025.3612571","type":"journal-article","created":{"date-parts":[[2025,9,22]],"date-time":"2025-09-22T17:44:08Z","timestamp":1758563048000},"page":"3800-3815","source":"Crossref","is-referenced-by-count":1,"title":["Autonomous Underwater Vehicle Safety Path Planning Method Based on Constraint Reinforcement Learning"],"prefix":"10.1109","volume":"75","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5504-388X","authenticated-orcid":false,"given":"Hao","family":"Lu","sequence":"first","affiliation":[{"name":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-0341-3096","authenticated-orcid":false,"given":"Zhuo","family":"Wang","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3917-5700","authenticated-orcid":false,"given":"Guiqiang","family":"Bai","sequence":"additional","affiliation":[{"name":"Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9794-4491","authenticated-orcid":false,"given":"Hongde","family":"Qin","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wucan","family":"Yang","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2022.3232391"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2023.3241634"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2022.3178379"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2024.3397858"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3177801"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3279252"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.118043"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.118705"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2022.3212982"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2023.120254"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2024.3380458"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2023.3249966"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICCPS61052.2024.00037"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3153352"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2024.3411569"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2022.3205685"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.3390\/jmse10122018"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3296415"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.apor.2022.103326"},{"key":"ref20","first-page":"1587","article-title":"Addressing function approximation error in actor-critic methods","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Fujimoto","year":"2018"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.119354"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.117547"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.118538"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1080\/09540091.2022.2151567"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2023.3264243"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.geits.2023.100129"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.geits.2024.100205"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2023.3235946"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2023.3327571"},{"key":"ref30","article-title":"Safe exploration in continuous action spaces","author":"Dalal","year":"2018"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3070252"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3387010"},{"key":"ref33","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/DASC58513.2023.10311219"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICPSAsia55496.2022.9949755"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1162\/opmi_a_00132"},{"key":"ref37","first-page":"1110","article-title":"Learning to walk in the real world with minimal human effort","volume-title":"Proc. Conf. Robot Learn,","author":"Ha","year":"2021"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2022.3152724"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3354629"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3273857"},{"key":"ref41","article-title":"High-dimensional continuous control using generalized advantage estimation","author":"Schulman","year":"2015"},{"key":"ref42","article-title":"Feasible actor-critic: Constrained reinforcement learning for ensuring statewise safety","author":"Ma","year":"2021"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v37i12.26786"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.5772\/5618"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.116490"},{"key":"ref46","article-title":"The general bathymetric chart of the oceans ($116^{\\circ }$ e to $119^{\\circ }$ e., $37.5^{\\circ }$ n to $39.5^{\\circ }$ n)","year":"2024"},{"key":"ref47","article-title":"Hybrid coordinate ocean model ocean model ($116^{\\circ }$ e to $119^{\\circ }$ e., $37.5^{\\circ }$ n to $39.5^{\\circ }$ n)","year":"2024"},{"key":"ref48","article-title":"World elevation - terrain 3D, ArcGIS online","year":"2024"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2021.3082568"},{"key":"ref50","article-title":"Contributors saferl-kit: A benchmarking library for safe reinforcement learning","volume-title":"GitHub Repository","author":"Ren","year":"2024"},{"key":"ref51","article-title":"Massively parallel framework for cloud-native deep reinforcement learning","volume-title":"GitHub Repository","author":"Liu","year":"2024"},{"key":"ref52","article-title":"Distributional soft actor-critic with three refinements (DSAC-T)","volume-title":"GitHub Repository","author":"Duan","year":"2024"},{"key":"ref53","article-title":"Artificial potential field for path planning","volume-title":"GitHub Repository","author":"Ali","year":"2024"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2023.3347219"}],"container-title":["IEEE Transactions on Vehicular Technology"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/25\/11424232\/11175092.pdf?arnumber=11175092","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T19:58:52Z","timestamp":1773086332000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11175092\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3]]},"references-count":54,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/tvt.2025.3612571","relation":{},"ISSN":["0018-9545","1939-9359"],"issn-type":[{"value":"0018-9545","type":"print"},{"value":"1939-9359","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,3]]}}}