{"id":"https://openalex.org/W4414458840","doi":"https://doi.org/10.1109/tce.2025.3614074","title":"AUV Path Planning and Object Tracking Algorithm Based on Reinforcement Learning Under Point Cloud Observation","display_name":"AUV Path Planning and Object Tracking Algorithm Based on Reinforcement Learning Under Point Cloud Observation","publication_year":2025,"publication_date":"2025-09-24","ids":{"openalex":"https://openalex.org/W4414458840","doi":"https://doi.org/10.1109/tce.2025.3614074"},"language":"en","primary_location":{"id":"doi:10.1109/tce.2025.3614074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3614074","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Transactions on Consumer Electronics","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":true,"raw_author_name":"Meng Xi","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"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/A5003074141","display_name":"Linfei Cao","orcid":null},"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":"Linfei Cao","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"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"],"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/A5088162640","display_name":"Zhijin Wang","orcid":"https://orcid.org/0000-0001-7997-303X"},"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":"Zhijing Wang","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"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/A5075668011","display_name":"Qi Wu","orcid":"https://orcid.org/0000-0002-1196-226X"},"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":"Qi Wu","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"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/A5103186690","display_name":"Jia Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129465","display_name":"Wuhan Ship Development & Design Institute","ror":"https://ror.org/02mcdae06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129465"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Wang","raw_affiliation_strings":["Wuhan Second Ship Design and Research Institute, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Wuhan Second Ship Design and Research Institute, Wuhan, China","institution_ids":["https://openalex.org/I4210129465"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5031593368"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":1.2181,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83758036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"71","issue":"4","first_page":"10786","last_page":"10796"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9745000004768372,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9745000004768372,"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/motion-planning","display_name":"Motion planning","score":0.7850000262260437},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7700999975204468},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.689300000667572},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5623000264167786},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5622000098228455},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5558000206947327},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4821000099182129},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.45559999346733093},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43459999561309814},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4287000000476837}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7850000262260437},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7700999975204468},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.689300000667572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5852000117301941},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5623000264167786},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5622000098228455},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5558000206947327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5252000093460083},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4821000099182129},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.45559999346733093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4490000009536743},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43459999561309814},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4341999888420105},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.430400013923645},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4287000000476837},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.42829999327659607},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4230000078678131},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4059000015258789},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3788999915122986},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3725000023841858},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.3596999943256378},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3560999929904938},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.34459999203681946},{"id":"https://openalex.org/C82327864","wikidata":"https://www.wikidata.org/wiki/Q835100","display_name":"Intelligent control","level":2,"score":0.33719998598098755},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3330000042915344},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.3167000114917755},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.31380000710487366},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.30970001220703125},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2824999988079071},{"id":"https://openalex.org/C2778999744","wikidata":"https://www.wikidata.org/wiki/Q7208292","display_name":"Point target","level":3,"score":0.2718000113964081},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.259799987077713},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2590999901294708},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tce.2025.3614074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3614074","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Transactions on Consumer Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3903710966","display_name":null,"funder_award_id":"62306211","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5282204017","display_name":null,"funder_award_id":"2023M742608","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G571538050","display_name":null,"funder_award_id":"2023M742608","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5851070833","display_name":null,"funder_award_id":"62403349","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2172248592","https://openalex.org/W2252864073","https://openalex.org/W2345111710","https://openalex.org/W2568019971","https://openalex.org/W2754000639","https://openalex.org/W2895095307","https://openalex.org/W2897553353","https://openalex.org/W2904852120","https://openalex.org/W2920417161","https://openalex.org/W3004006877","https://openalex.org/W3155916987","https://openalex.org/W3184311107","https://openalex.org/W3196526351","https://openalex.org/W4206032480","https://openalex.org/W4206494026","https://openalex.org/W4210663588","https://openalex.org/W4214735187","https://openalex.org/W4289653545","https://openalex.org/W4302010773","https://openalex.org/W4308159282","https://openalex.org/W4365140218","https://openalex.org/W4380538337","https://openalex.org/W4383891636","https://openalex.org/W6922480057"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"underwater":[1],"vehicles":[2],"(AUV)":[3],"play":[4],"an":[5,133],"important":[6],"role":[7],"in":[8,101,141],"the":[9,15,18,26,36,55,62,73,87,98,102,107,112,119,129,142,154,158,161,172,180],"process":[10],"of":[11,14,28,58,79,118,160,182],"human":[12],"exploration":[13],"ocean.":[16],"However,":[17],"existing":[19],"AUV":[20,59,95,121,134,173],"control":[21,67],"methods":[22,68],"are":[23],"faced":[24],"with":[25,46],"problem":[27],"insufficient":[29],"intelligence":[30],"and":[31,76,89,105,187],"can":[32,60,177],"not":[33],"adapt":[34],"to":[35,54,85,123,131,156],"complex":[37,63],"marine":[38,139],"environment.":[39,163],"Deep":[40],"reinforcement":[41,52],"learning":[42,53],"approximates":[43],"nonlinear":[44],"functions":[45],"deep":[47,51],"neural":[48],"networks.":[49],"Applying":[50],"path":[56,74,183],"planning":[57,75],"solve":[61],"situation":[64],"that":[65],"traditional":[66],"cannot":[69],"handle.":[70],"We":[71,136],"study":[72],"target":[77,108,188],"tracking":[78],"AUV.":[80],"Two":[81],"AUVs":[82,155],"were":[83],"trained":[84],"complete":[86,179],"piloting":[88,94],"following":[90,120],"tasks":[91,181],"respectively.":[92],"The":[93,116],"could":[96],"detect":[97],"obstacle":[99,113,185],"information":[100,159],"surrounding":[103,162],"environment":[104,140],"reach":[106],"point":[109],"while":[110],"completing":[111],"avoidance":[114,186],"task.":[115],"mission":[117],"is":[122,145],"stay":[124],"at":[125],"a":[126,138,146],"distance":[127],"from":[128],"leader":[130],"form":[132],"swarm.":[135],"built":[137],"gazebo,":[143],"which":[144,176],"relatively":[147],"realistic":[148],"physics":[149],"engine,and":[150],"added":[151],"sensors":[152],"on":[153],"obtain":[157],"By":[164],"using":[165],"soft":[166],"actor":[167],"critic":[168],"algorithm,":[169],"we":[170],"realized":[171],"cluster":[174],"control,":[175],"simultaneously":[178],"planning,":[184],"tracking.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
