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en línea
Yushan Sun, Xiangrui Ran, Guocheng Zhang, Hao Xu and Xiangbin Wang    
This study proposed the 3D path planning of an autonomous underwater vehicle (AUV) by using the hierarchical deep Q network (HDQN) combined with the prioritized experience replay. The path planning task was divided into three layers, which realized the d... ver más
Revista: Journal of Marine Science and Engineering    Formato: Electrónico

 
en línea
Yushan Sun, Chenming Zhang, Guocheng Zhang, Hao Xu and Xiangrui Ran    
In this paper, the three-dimensional (3D) path tracking control of an autonomous underwater vehicle (AUV) under the action of sea currents was researched. A novel reward function was proposed to improve learning ability and a disturbance observer was dev... ver más
Revista: Journal of Marine Science and Engineering    Formato: Electrónico

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