Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider
In practical application studies of glider formations, ocean currents are a major influencing factor in their path planning. The purpose of this paper is to solve the path planning problem of glider formations in time-varying ocean currents and establish gliders, glider formation, and ocean current...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2022/1715226 |
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| _version_ | 1832564063246221312 |
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| author | Wei Lan Xiang Jin Xin Chang Tianlin Wang Han Zhou |
| author_facet | Wei Lan Xiang Jin Xin Chang Tianlin Wang Han Zhou |
| author_sort | Wei Lan |
| collection | DOAJ |
| description | In practical application studies of glider formations, ocean currents are a major influencing factor in their path planning. The purpose of this paper is to solve the path planning problem of glider formations in time-varying ocean currents and establish gliders, glider formation, and ocean current models based on existing data. The Doc-CNN architecture is tailored to conform to the operation and environment characteristics of gliders in practical application. After experiments, the algorithm of the improved architecture can be used in the path planning task of glider formation. The algorithm architecture is compared and tested on two datasets, grid maps and ocean maps. Doc-CNN has an advantage over architecture without being tailored to glider characteristics and makes full use of known global information and local information collected by gliders themselves. The results show that the path planning problem of glider formation in ocean currents can be solved by using Doc-CNN. |
| format | Article |
| id | doaj-art-8847f04667584a8792c19f14003ef8d2 |
| institution | Kabale University |
| issn | 1099-0526 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-8847f04667584a8792c19f14003ef8d22025-02-03T01:11:57ZengWileyComplexity1099-05262022-01-01202210.1155/2022/1715226Learning-Based Path Planning Algorithm in Ocean Currents for Multi-GliderWei Lan0Xiang Jin1Xin Chang2Tianlin Wang3Han Zhou4Naval Architecture and Ocean Engineering CollegeNaval Architecture and Ocean Engineering CollegeNaval Architecture and Ocean Engineering CollegeSchool of Marine SciencesThe 714 Institute of CSSCIn practical application studies of glider formations, ocean currents are a major influencing factor in their path planning. The purpose of this paper is to solve the path planning problem of glider formations in time-varying ocean currents and establish gliders, glider formation, and ocean current models based on existing data. The Doc-CNN architecture is tailored to conform to the operation and environment characteristics of gliders in practical application. After experiments, the algorithm of the improved architecture can be used in the path planning task of glider formation. The algorithm architecture is compared and tested on two datasets, grid maps and ocean maps. Doc-CNN has an advantage over architecture without being tailored to glider characteristics and makes full use of known global information and local information collected by gliders themselves. The results show that the path planning problem of glider formation in ocean currents can be solved by using Doc-CNN.http://dx.doi.org/10.1155/2022/1715226 |
| spellingShingle | Wei Lan Xiang Jin Xin Chang Tianlin Wang Han Zhou Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider Complexity |
| title | Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider |
| title_full | Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider |
| title_fullStr | Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider |
| title_full_unstemmed | Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider |
| title_short | Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider |
| title_sort | learning based path planning algorithm in ocean currents for multi glider |
| url | http://dx.doi.org/10.1155/2022/1715226 |
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