Table 3 Comparison of evaluation metrics of DRL-tuned NMPC and baseline NMPC in the crossing give-way scenario, depicted in Fig. 7.

From: Digital twin syncing for autonomous surface vessels using reinforcement learning and nonlinear model predictive control

Metric

DRL-tuned NMPC

Baseline NMPC

Episodes

1.00

1.00

Avg. cross-track error [m]

7.91

18.54

Max cross-track error [m]

196.34

220.11

Time steps [s]

323.00

331.00

Avg. heading error [deg]

0.01

0.16

Max heading error [deg]

0.13

0.33

Avg. surge speed error [m/s]

0.06

0.09

Max surge speed error [m/s]

1.09

1.32

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