Search and tracking strategy of autonomous surface underwater vehicle in oceanic eddies based on deep reinforcement learning
Search and tracking strategy of autonomous surface underwater vehicle in oceanic eddies based on deep reinforcement learning
复制标题
基于深度强化学习的自主水面水下航行器海洋涡流搜索与跟踪策略
DOI：
10.1016/j.asoc.2022.109902
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发表时间：
2022-12
影响因子：
8.7
通讯作者：
Peng Yao
中科院分区：
文献类型：
--
作者：
Dalei Song;Wenhao Gan;Peng Yao
Due to dynamic changes and instability of oceanic eddies, continuous tracking and sampling using mobile platforms is a challenging field. Aiming at the requirements of accurate observation of mesoscale eddies, this paper studies the problem of searching and tracking the eddy center in a mapless environment with an underactuated autonomous surface underwater vehicle (ASUV) and proposes a path planning method based on the deep reinforcement learning (DRL). Firstly, the existing observation methods are summarized, and the dynamic tracking framework of mesoscale eddies is established. Then, the DRL and long short-term memory (LSTM) are combined to train end-to-end and real-time planning strategies in an eddy environment. Finally, a high-fidelity simulation platform in the eddy environment is built, and actual data from the Kuroshio Extension region is used to verify the effectiveness and feasibility of the strategies. The experimental results show that the ASUV with the proposed strategies can realize the autonomous search and tracking of the eddy center, have good stability and real-time performance, and the tracking error is always within an acceptable range.
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影响因子：
9.8
作者：
Faghmous, James H.;Frenger, Ivy;Yao, Yuanshun;Warmka, Robert;Lindell, Aron;Kumar, Vipin
通讯作者：
Kumar, Vipin
影响因子：
--
作者：
J. P. Martin;Craig M. Lee;C. Eriksen;C. Ladd;N. Kachel
通讯作者：
J. P. Martin;Craig M. Lee;C. Eriksen;C. Ladd;N. Kachel
影响因子：
2.9
作者：
Gers, FA;Schmidhuber, J;Cummins, F
通讯作者：
Cummins, F
影响因子：
2.6
作者：
C. Troupin;A. Pascual;G. Valladeau;I. Pujol;Arancha Lana;E. Heslop;S. Ruiz;M. Torner;N. Picot;J. Tintoré
通讯作者：
C. Troupin;A. Pascual;G. Valladeau;I. Pujol;Arancha Lana;E. Heslop;S. Ruiz;M. Torner;N. Picot;J. Tintoré
DOI：
10.1109/oceanskobe.2018.8559265
发表时间：
2018-05
期刊：
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)
影响因子：
--
作者：
Chengke Xiong;Zheng Zeng;L. Lian
通讯作者：
Chengke Xiong;Zheng Zeng;L. Lian