{"id":"https://openalex.org/W4214897012","doi":"https://doi.org/10.1109/jiot.2022.3155697","title":"Comprehensive Ocean Information-Enabled AUV Path Planning Via Reinforcement Learning","display_name":"Comprehensive Ocean Information-Enabled AUV Path Planning Via Reinforcement Learning","publication_year":2022,"publication_date":"2022-03-01","ids":{"openalex":"https://openalex.org/W4214897012","doi":"https://doi.org/10.1109/jiot.2022.3155697"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2022.3155697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3155697","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5031593368","display_name":"Meng Xi","orcid":"https://orcid.org/0000-0001-8207-3921"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Xi","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8207-3921","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066144350","display_name":"Jiachen Yang","orcid":"https://orcid.org/0000-0003-2558-552X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiachen Yang","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-2558-552X","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022939072","display_name":"Jiabao Wen","orcid":"https://orcid.org/0000-0003-2303-9613"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiabao Wen","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-2303-9613","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053977407","display_name":"Hankai Liu","orcid":"https://orcid.org/0000-0002-1317-0418"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hankai Liu","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-1317-0418","affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018588825","display_name":"Yang Li","orcid":"https://orcid.org/0000-0002-4268-4004"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Li","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-4268-4004","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079301418","display_name":"Houbing Song","orcid":"https://orcid.org/0000-0003-2631-9223"},"institutions":[{"id":"https://openalex.org/I84475105","display_name":"Embry\u2013Riddle Aeronautical University","ror":"https://ror.org/010jskt71","country_code":"US","type":"education","lineage":["https://openalex.org/I84475105"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Houbing Herbert Song","raw_affiliation_strings":["Security and Optimization for Networked Globe Laboratory, Embry-Riddle Aeronautical University, Daytona Beach, FL, USA"],"raw_orcid":"https://orcid.org/0000-0003-2631-9223","affiliations":[{"raw_affiliation_string":"Security and Optimization for Networked Globe Laboratory, Embry-Riddle Aeronautical University, Daytona Beach, FL, USA","institution_ids":["https://openalex.org/I84475105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2195,"currency":"USD","value_usd":2195},"apc_paid":null,"fwci":12.9175,"has_fulltext":false,"cited_by_count":134,"citation_normalized_percentile":{"value":0.99571457,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"18","first_page":"17440","last_page":"17451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.68218594789505},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6721816658973694},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6459587216377258},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6234274506568909},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5296803712844849},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.43372872471809387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32178795337677},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09993535280227661}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.68218594789505},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6721816658973694},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6459587216377258},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6234274506568909},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5296803712844849},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.43372872471809387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32178795337677},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09993535280227661},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2022.3155697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3155697","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8600000143051147}],"awards":[{"id":"https://openalex.org/G8191841786","display_name":"\u57fa\u4e8e\u4e09\u7406\u6c47\u901a\u7684\u865a\u62df\u73b0\u5b9e\u4f53\u9a8c\u8d28\u91cf\u8bc4\u4ef7\u7814\u7a76","funder_award_id":"61871283","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1531768398","https://openalex.org/W1974909294","https://openalex.org/W2010303449","https://openalex.org/W2069710460","https://openalex.org/W2077831477","https://openalex.org/W2121750169","https://openalex.org/W2145339207","https://openalex.org/W2149895953","https://openalex.org/W2293066912","https://openalex.org/W2582828928","https://openalex.org/W2603831296","https://openalex.org/W2796419292","https://openalex.org/W2898165977","https://openalex.org/W2900861938","https://openalex.org/W2901747954","https://openalex.org/W2906415336","https://openalex.org/W2912361519","https://openalex.org/W2943356268","https://openalex.org/W2965911442","https://openalex.org/W2969277962","https://openalex.org/W2970911366","https://openalex.org/W2971119496","https://openalex.org/W2973021099","https://openalex.org/W2979673758","https://openalex.org/W2995328663","https://openalex.org/W3008967682","https://openalex.org/W3011120880","https://openalex.org/W3011646207","https://openalex.org/W3018781951","https://openalex.org/W3025305679","https://openalex.org/W3032586311","https://openalex.org/W3088197938","https://openalex.org/W3089283090","https://openalex.org/W3090790792","https://openalex.org/W3094093649","https://openalex.org/W3097757314","https://openalex.org/W3117126067","https://openalex.org/W3120436174","https://openalex.org/W3124137347","https://openalex.org/W3158378362","https://openalex.org/W3167122261","https://openalex.org/W3184852195","https://openalex.org/W3198069538","https://openalex.org/W4285232018","https://openalex.org/W6775686901","https://openalex.org/W6789549409"],"related_works":["https://openalex.org/W2591930867","https://openalex.org/W4362501864","https://openalex.org/W1999583034","https://openalex.org/W4306904969","https://openalex.org/W3168963531","https://openalex.org/W4380318855","https://openalex.org/W2953138830","https://openalex.org/W3176162126","https://openalex.org/W3217214504","https://openalex.org/W2773822314"],"abstract_inverted_index":{"The":[0,191],"path":[1,61,96,206],"planning":[2,62,97,207],"of":[3,16,109,155,165,193],"the":[4,41,72,115,130,163,166],"autonomous":[5],"underwater":[6],"vehicle":[7],"(AUV)":[8],"has":[9,195],"shown":[10],"great":[11],"potential":[12],"in":[13],"various":[14],"Internet":[15],"Underwater":[17],"Things":[18],"(IoUT)":[19],"applications.":[20],"Although":[21],"considerable":[22],"efforts":[23],"had":[24],"been":[25,53,196],"made,":[26],"prior":[27],"studies":[28],"are":[29],"confronted":[30],"with":[31],"some":[32],"limitations.":[33],"For":[34,58],"one":[35],"thing,":[36],"existing":[37],"work":[38],"only":[39],"uses":[40,184],"ocean":[42,49,90,101,118,132,138,156,174,215],"current":[43,175],"simulation":[44],"model":[45,154],"without":[46],"introducing":[47],"real":[48,56,117],"information,":[50],"having":[51],"not":[52],"supported":[54],"by":[55,200],"data.":[57],"another,":[59],"traditional":[60],"algorithms":[63],"have":[64],"strong":[65],"environment":[66,73,157],"dependence":[67],"and":[68,80,103,126,146,176,183,198,208],"lack":[69],"flexibility:":[70],"once":[71],"changes,":[74],"they":[75],"need":[76],"to":[77,135,179,187],"be":[78],"remodeled":[79],"replanned.":[81],"To":[82],"overcome":[83],"these":[84],"challenges,":[85],"this":[86],"article":[87],"proposes":[88],"comprehensive":[89,100,116],"information":[91,102],"D3QN":[92],"(COID),":[93],"an":[94],"AUV":[95],"scheme":[98],"exploiting":[99],"reinforcement":[104],"learning":[105],"(RL),":[106],"which":[107,203],"consists":[108],"three":[110],"steps.":[111],"First,":[112],"we":[113,149],"introduce":[114],"data,":[119],"including":[120],"weather,":[121],"temperature,":[122],"thermohaline,":[123],"current,":[124],"etc.,":[125],"apply":[127],"them":[128],"into":[129,213],"regional":[131],"modeling":[133],"system":[134],"generated":[136],"reliable":[137],"current.":[139],"Next,":[140],"through":[141],"well-designed":[142],"state":[143,181],"transition":[144],"function":[145],"reward":[147],"function,":[148],"build":[150],"a":[151],"3-D":[152],"grid":[153],"for":[158,211],"RL.":[159],"Furthermore,":[160],"based":[161],"on":[162],"framework":[164],"double":[167],"dueling":[168],"deep$Q$network":[169],"(D3QN),":[170],"COID":[171,194],"integrates":[172],"local":[173],"position":[177],"features":[178],"provide":[180],"input":[182],"priority":[185],"sampling":[186],"accelerate":[188],"network":[189],"convergence.":[190],"performance":[192],"evaluated":[197],"proved":[199],"numerical":[201],"results,":[202],"demonstrate":[204],"efficient":[205],"high":[209],"flexibility":[210],"expansion":[212],"different":[214],"environments.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":29},{"year":2025,"cited_by_count":40},{"year":2024,"cited_by_count":31},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":9}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}