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 4 局部海底环境中不同路径规划方法的性能指标对比

Tab.4 Comparison of performance indicators of different path planning methods in local seabed environment

方法 局部海底环境1 局部海底环境2 l/m So γmax/(°) tr/s l/m So γmax/(°) tr/s IADQN 2 171.98 11.00 65.23 616.86 4 462.22 23.56 76.26 1 264.10 APF 2 380.88 29.85 90.00 815.17 26 184.47 782.26 90.00 9 142.90 A* 2 171.98 13.85 66.59 751.13 4 492.01 29.85 70.47 1 466.79 RRT 2 279.33 13.09 90.00 622.65 6 592.56 30.63 143.03 1 786.97 DQN 2 171.98 11.00 75.62 623.27 4 462.22 32.99 93.28 1 378.76 PPO 2 171.98 25.13 90.00 737.79 4 462.22 26.70 84.00 1 392.03