{"id":"https://openalex.org/W4367053531","doi":"https://doi.org/10.3390/a16050220","title":"Improved DQN for Dynamic Obstacle Avoidance and Ship Path Planning","display_name":"Improved DQN for Dynamic Obstacle Avoidance and Ship Path Planning","publication_year":2023,"publication_date":"2023-04-25","ids":{"openalex":"https://openalex.org/W4367053531","doi":"https://doi.org/10.3390/a16050220"},"language":"en","primary_location":{"id":"doi:10.3390/a16050220","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a16050220","pdf_url":"https://www.mdpi.com/1999-4893/16/5/220/pdf?version=1682419295","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/16/5/220/pdf?version=1682419295","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102012320","display_name":"Xiao Dong Yang","orcid":"https://orcid.org/0000-0003-2837-4760"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Yang","raw_affiliation_strings":["School of Computer Science and Technology, Harbin Engineering University, Nantong Street, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Harbin Engineering University, Nantong Street, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109603983","display_name":"Qilong Han","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qilong Han","raw_affiliation_strings":["School of Computer Science and Technology, Harbin Engineering University, Nantong Street, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Harbin Engineering University, Nantong Street, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109603983"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":2.2305,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86488529,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"16","issue":"5","first_page":"220","last_page":"220"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","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/T11622","display_name":"Maritime Navigation and Safety","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9843000173568726,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.9268201589584351},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8363285064697266},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7308984398841858},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7224910259246826},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5248551368713379},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5079799294471741},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5005803108215332},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4758412837982178},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.473860502243042},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4726463854312897},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43727031350135803},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4206918776035309},{"id":"https://openalex.org/keywords/decision-process","display_name":"Decision process","score":0.41438475251197815},{"id":"https://openalex.org/keywords/collision-avoidance-system","display_name":"Collision avoidance system","score":0.41255372762680054},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.3734312653541565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3476139307022095},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20976337790489197},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.17466169595718384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15381795167922974},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13905707001686096},{"id":"https://openalex.org/keywords/management-science","display_name":"Management science","score":0.07018432021141052}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.9268201589584351},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8363285064697266},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7308984398841858},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7224910259246826},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5248551368713379},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5079799294471741},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5005803108215332},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4758412837982178},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.473860502243042},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4726463854312897},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43727031350135803},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4206918776035309},{"id":"https://openalex.org/C2984634286","wikidata":"https://www.wikidata.org/wiki/Q1331926","display_name":"Decision process","level":2,"score":0.41438475251197815},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.41255372762680054},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3734312653541565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3476139307022095},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20976337790489197},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.17466169595718384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15381795167922974},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13905707001686096},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.07018432021141052},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/a16050220","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a16050220","pdf_url":"https://www.mdpi.com/1999-4893/16/5/220/pdf?version=1682419295","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a614698d98e64cc399da9bf93bd64ba4","is_oa":true,"landing_page_url":"https://doaj.org/article/a614698d98e64cc399da9bf93bd64ba4","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 16, Iss 5, p 220 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1999-4893/16/5/220/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/a16050220","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms; Volume 16; Issue 5; Pages: 220","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/a16050220","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a16050220","pdf_url":"https://www.mdpi.com/1999-4893/16/5/220/pdf?version=1682419295","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4367053531.pdf"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1596729410","https://openalex.org/W1997880753","https://openalex.org/W2046871481","https://openalex.org/W2114646239","https://openalex.org/W2199219194","https://openalex.org/W2469258761","https://openalex.org/W2763301477","https://openalex.org/W2793067206","https://openalex.org/W2901325952","https://openalex.org/W2977243132","https://openalex.org/W3037694644","https://openalex.org/W3116030074","https://openalex.org/W3132663004","https://openalex.org/W3133452713","https://openalex.org/W3135963500","https://openalex.org/W3168592837","https://openalex.org/W3168738617","https://openalex.org/W3174398482","https://openalex.org/W3184770056","https://openalex.org/W3200962355","https://openalex.org/W3206041612","https://openalex.org/W3211080667","https://openalex.org/W3212192385","https://openalex.org/W4200063339","https://openalex.org/W4220967322","https://openalex.org/W4224101286","https://openalex.org/W4224981767","https://openalex.org/W4229066299","https://openalex.org/W4280531829","https://openalex.org/W4282018456","https://openalex.org/W4293147536","https://openalex.org/W4296003180","https://openalex.org/W4304118970","https://openalex.org/W4310541177","https://openalex.org/W4311764827","https://openalex.org/W4313502727","https://openalex.org/W4313530576","https://openalex.org/W4317388085","https://openalex.org/W4321371888"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W2321940404","https://openalex.org/W2022120107","https://openalex.org/W2473759166"],"abstract_inverted_index":{"The":[0],"avoidance":[1,27,120],"of":[2,56,70,121,128],"collisions":[3],"among":[4],"ships":[5],"requires":[6],"addressing":[7],"various":[8],"factors":[9,17],"such":[10],"as":[11],"perception,":[12],"decision-making,":[13],"and":[14,48,65,73,107,111],"control.":[15],"These":[16],"pose":[18],"many":[19],"challenges":[20],"for":[21,104],"autonomous":[22,36],"collision":[23,26,37,119],"avoidance.":[24,38],"Traditional":[25],"methods":[28],"have":[29],"encountered":[30],"significant":[31],"difficulties":[32],"when":[33],"used":[34],"in":[35,131],"They":[39],"are":[40],"challenged":[41],"to":[42,61,90,115],"cope":[43],"with":[44],"the":[45,53,68,76,92,117,126,129,132],"changing":[46],"environment":[47],"harsh":[49],"motion":[50],"constraints.":[51],"In":[52,88],"actual":[54],"navigation":[55],"ships,":[57],"it":[58,80,112],"is":[59,81,113],"necessary":[60],"carry":[62],"out":[63],"decision-making":[64,86],"control":[66],"under":[67],"constraints":[69],"ship":[71],"manipulation":[72],"risk.":[74],"From":[75],"implementation":[77],"process":[78],"perspective,":[79],"a":[82,102],"typical":[83],"sequential":[84,93],"anthropomorphic":[85],"problem.":[87],"order":[89],"solve":[91],"decision":[94],"problem,":[95],"this":[96],"paper":[97],"improves":[98],"DQN":[99],"by":[100],"setting":[101],"priority":[103],"sample":[105],"collection":[106],"adopting":[108],"non-uniform":[109],"sampling,":[110],"applied":[114],"realize":[116],"intelligent":[118],"ships.":[122],"It":[123],"also":[124],"verifies":[125],"performance":[127],"algorithm":[130],"simulation":[133],"environment.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-02-27T16:54:17.756197","created_date":"2023-04-27T00:00:00"}
