Table 4 Evaluation metrics for NMPC using the estimated model parameters from the DRL agent in the state prediction of the NMPC, compared to the actual model parameters used for the state prediction.
Metric | DRL agent | Actual model parameters |
|---|---|---|
Episodes | 100.00 | 100.00 |
Avg. cross-track error | 2.67 | 3.98 |
Avg. std cross-track error | 3.38 | 3.64 |
Avg. max cross-track error | 17.10 | 18.02 |
Avg. timesteps | 203.71 | 203.92 |
Goals reached | 97% | 100.00% |
Infeasible solutions | 0.0 | 0.0 |
Avg. heading error | 0.00 | -0.01 |
Avg. mean heading error | 0.00 | -0.01 |
Avg. std heading error | 0.09 | 0.08 |
Avg. max heading error | 0.42 | 0.39 |
Avg. surge speed error | 0.13 | 0.13 |
Avg. mean surge speed error | 0.11 | 0.12 |
Avg. std surge speed error | 0.39 | 0.39 |
Avg. max surge speed error | 1.70 | 1.69 |
