{"id":"https://openalex.org/W4386159859","doi":"https://doi.org/10.1109/icarm58088.2023.10218902","title":"Path Planning of Unmanned Underwater Vehicles Based on Deep Reinforcement Learning Algorithm","display_name":"Path Planning of Unmanned Underwater Vehicles Based on Deep Reinforcement Learning Algorithm","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386159859","doi":"https://doi.org/10.1109/icarm58088.2023.10218902"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218902","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100445144","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0002-0431-1039"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Logistics Engineering College, Shanghai Maritime University,Shanghai,China,201306"],"affiliations":[{"raw_affiliation_string":"Logistics Engineering College, Shanghai Maritime University,Shanghai,China,201306","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072690363","display_name":"Zhenzhong Chu","orcid":"https://orcid.org/0000-0002-0287-4727"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Chu","raw_affiliation_strings":["School of Mechanical Engineering, University of Shanghai for Science and Technology,Shanghai,China,200093"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai for Science and Technology,Shanghai,China,200093","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027329007","display_name":"Yongli Hu","orcid":"https://orcid.org/0000-0003-0440-438X"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongli Hu","raw_affiliation_strings":["Logistics Engineering College, Shanghai Maritime University,Shanghai,China,201306"],"affiliations":[{"raw_affiliation_string":"Logistics Engineering College, Shanghai Maritime University,Shanghai,China,201306","institution_ids":["https://openalex.org/I96733725"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100445144"],"corresponding_institution_ids":["https://openalex.org/I96733725"],"apc_list":null,"apc_paid":null,"fwci":0.6993,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75598921,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"250","last_page":"254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8065218925476074},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7943549156188965},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7864360809326172},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.7627464532852173},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6246647834777832},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5841092467308044},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.5409437417984009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46793147921562195},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4493839144706726},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.421806275844574},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3325241804122925},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2890896201133728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22151774168014526}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8065218925476074},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7943549156188965},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7864360809326172},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.7627464532852173},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6246647834777832},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5841092467308044},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.5409437417984009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46793147921562195},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4493839144706726},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.421806275844574},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3325241804122925},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2890896201133728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22151774168014526},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218902","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218902","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2563150812","https://openalex.org/W2582118765","https://openalex.org/W2754578262","https://openalex.org/W2792916003","https://openalex.org/W3128256958","https://openalex.org/W3128395826","https://openalex.org/W3164053719","https://openalex.org/W3188721324","https://openalex.org/W3215024416","https://openalex.org/W4229374619","https://openalex.org/W4255071148"],"related_works":["https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471","https://openalex.org/W1577440474","https://openalex.org/W2981706417","https://openalex.org/W811900207","https://openalex.org/W2515556373","https://openalex.org/W2604586813","https://openalex.org/W1763276989","https://openalex.org/W4235285863"],"abstract_inverted_index":{"This":[0],"paper":[1,78],"implemented":[2],"path":[3,87],"planning":[4],"for":[5,85],"unmanned":[6],"underwater":[7],"vehicle":[8],"(UUV)":[9],"using":[10],"deep":[11,27],"reinforcement":[12],"learning":[13],"(DRL)algorithms":[14],"with":[15],"the":[16],"UUV":[17,86],"Simulator.":[18],"We":[19],"used":[20],"three":[21,56],"different":[22,70],"algorithms,":[23],"including":[24],"twin":[25],"delayed":[26],"deterministic":[28],"policy":[29],"gradient":[30],"(TD3),":[31],"Soft":[32],"Actor-Critic":[33],"(SAC),":[34],"and":[35,48,61,63,83],"Proximal":[36],"Policy":[37],"Optimization":[38],"(PPO).":[39],"By":[40],"conducting":[41],"multiple":[42],"experiments":[43],"in":[44,69],"a":[45],"simulation":[46],"environment":[47],"evaluating":[49],"their":[50],"results,":[51],"we":[52],"found":[53],"that":[54],"all":[55],"algorithms":[57],"have":[58],"good":[59],"performance":[60],"robustness,":[62],"each":[64],"has":[65],"its":[66],"own":[67],"advantages":[68],"test":[71],"cases.":[72],"The":[73],"research":[74],"results":[75],"of":[76],"this":[77],"can":[79],"provide":[80],"some":[81],"reference":[82],"guidance":[84],"planning.":[88]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
