Path planning method for cooperative cruise of unmanned naval vessel

The invention relates to a path planning method for cooperative cruise of an unmanned naval vessel. The method comprises the following steps: constructing a path planning system model for cooperative cruise of the unmanned naval vessel; using a depth deterministic strategy gradient algorithm to train the unmanned ship cooperative cruise path planning system model; a weighted objective function and a double-delay network are introduced in the training process, and an obtained training result is updated to obtain a cooperative cruise strategy of the multiple unmanned naval vessels; and deploying the obtained cooperative cruise strategies of the plurality of unmanned naval vessels in a real task environment. According to the method, the problem of value function over-estimation in the training process of the depth deterministic strategy gradient algorithm can be relieved, the problem of low estimation is avoided, the final performance of the algorithm is improved, and the efficiency and quality of the unmanned s