AUV 3D Path Planning Based on the Improved Hierarchical Deep Q Network

AUV 3D Path Planning Based on the Improved Hierarchical Deep Q Network

This study proposed the 3D path planning of an autonomous underwater vehicle (AUV) by using the hierarchical deep Q network (HDQN) combined with the prioritized experience replay. The path planning task was divided into three layers, which realized the dimensionality reduction of state space and sol...

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Bibliographic Details
Main Authors: Yushan Sun, Xiangrui Ran, Guocheng Zhang, Hao Xu, Xiangbin Wang
Format: Article
Language:English
Published: MDPI AG 2020-02-01
Series:Journal of Marine Science and Engineering
Subjects:
auv
path plan
deep q network
hierarchical structure
prioritized experience replay
Online Access:https://www.mdpi.com/2077-1312/8/2/145

Internet

https://www.mdpi.com/2077-1312/8/2/145

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