融合自适应势场法和深度强化学习的三维水下AUV路径规划方法

郝琨,孟璇,赵晓芳,李志圣

3D underwater AUV path planning method integrating adaptive potential field method and deep reinforcement learning

Kun HAO,Xuan MENG,Xiaofang ZHAO,Zhisheng LI

表 3 三维水下环境中不同路径规划方法的性能指标对比

Tab.3 Comparison of performance indicators of different path planning methods in 3D underwater environment

方法 l/m So γmax/(°) tr/s IADQN 63 17.28 71.12 95.45 APF 15000 647.95 131.47 13 580.69 A* 63 19 80.04 106.56 RRT 71.62 19.11 136.19 112.18 DQN 57 21.99 87.18 158.83