{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,18]],"date-time":"2025-10-18T00:12:10Z","timestamp":1760746330938,"version":"build-2065373602"},"reference-count":45,"publisher":"World Scientific Pub Co Pte Ltd","issue":"02","funder":[{"name":"Science Research Project of Anhui Higher Education Institutions","award":["2023AH050914","2024AH052239","2024AH050114"],"award-info":[{"award-number":["2023AH050914","2024AH052239","2024AH050114"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["61902001"],"award-info":[{"award-number":["61902001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Science and Technology Project of Wuhu City","award":["2023pt07","2023ly13"],"award-info":[{"award-number":["2023pt07","2023ly13"]}]},{"name":"Quality Engineering Project of Anhui Higher Education Institutions","award":["2023zybj018"],"award-info":[{"award-number":["2023zybj018"]}]},{"name":"Quality Improvement Program of Anhui Polytechnic University","award":["2022lzyybj02","2023jyxm15","2024jyxm76"],"award-info":[{"award-number":["2022lzyybj02","2023jyxm15","2024jyxm76"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J CIRCUIT SYST COMP"],"published-print":{"date-parts":[[2026,1,30]]},"abstract":"<jats:p> Autonomous collision avoidance capability is a critical technology for expanding the application scenarios of Unmanned Surface Vehicles (USVs). Although existing methods achieve autonomous obstacle avoidance by constructing detailed environmental models, they still suffer from modeling bottlenecks under local perception constraints. In this paper, we propose a Dual-Stream Recurrent Prediction-based Proximal Policy Optimization (DSRP-PPO) algorithm that enhances the representation ability of multi-source perception information and improves the stability of the USV decision-making under local perception conditions. Specifically, we first employ recurrent neural networks to encode the visual and vector information streams of the USV separately, effectively extracting temporal hidden information from different modalities. Then, a fusion method is deployed to integrate the temporal hidden features from different perception streams. Subsequently, based on the actor-critic network in the PPO algorithm, the enhanced hidden features are evaluated to generate a stable policy. Finally, a constrained gradient backpropagation mechanism is introduced to improve the training stability of the model. We design several typical autonomous obstacle avoidance tasks for the USV to validate the practical performance of the proposed algorithm. Extensive experiments demonstrate that DSRP-PPO outperforms state-of-the-art deep reinforcement learning algorithms in terms of collision avoidance performance, policy convergence speed and effective sailing distance. <\/jats:p>","DOI":"10.1142\/s0218126625503670","type":"journal-article","created":{"date-parts":[[2025,5,21]],"date-time":"2025-05-21T04:28:01Z","timestamp":1747801681000},"source":"Crossref","is-referenced-by-count":0,"title":["Dual-Stream Recurrent Prediction-based Proximal Policy Optimization for Robust Unmanned Surface Vessel Obstacle Avoidance"],"prefix":"10.1142","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0718-5995","authenticated-orcid":false,"given":"Wei","family":"Wang","sequence":"first","affiliation":[{"name":"School of Computer and Information, Anhui Polytechnic University, Wuhu 241000, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1980-9283","authenticated-orcid":false,"given":"Dan","family":"Meng","sequence":"additional","affiliation":[{"name":"OPPO Research Institute, Shenzhen 518000, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-0504-0997","authenticated-orcid":false,"given":"Haibei","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta 30332, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-2647-5296","authenticated-orcid":false,"given":"Yi","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Computer and Information, Anhui Polytechnic University, Wuhu 241000, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4671-9825","authenticated-orcid":false,"given":"Chao","family":"Kong","sequence":"additional","affiliation":[{"name":"School of Computer and Information, Anhui Polytechnic University, Wuhu 241000, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2025,6,30]]},"reference":[{"key":"S0218126625503670BIB001","doi-asserted-by":"publisher","DOI":"10.1007\/s11804-010-1033-2"},{"key":"S0218126625503670BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2015.7443020"},{"key":"S0218126625503670BIB003","doi-asserted-by":"publisher","DOI":"10.1515\/pomr-2017-0088"},{"key":"S0218126625503670BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/ICInfA.2014.6932751"},{"key":"S0218126625503670BIB005","doi-asserted-by":"publisher","DOI":"10.3390\/jmse9121321"},{"key":"S0218126625503670BIB006","doi-asserted-by":"publisher","DOI":"10.1142\/S0218001422590091"},{"key":"S0218126625503670BIB007","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.112257"},{"key":"S0218126625503670BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2017.2743240"},{"key":"S0218126625503670BIB009","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.115649"},{"key":"S0218126625503670BIB010","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2024.124388"},{"issue":"1","key":"S0218126625503670BIB011","first-page":"5519033","volume":"2021","author":"Yan N.","year":"2021","journal-title":"Math. 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