Research Article
Research on UUV Obstacle Avoiding Method Based on Recurrent Neural Networks
Table 2
The performance of all structures in statistical experiment.
| ā | False alarm rate (%) | CW-RNN96 | CW-RNN180 | LSTM18 | LSTM45 |
| Success rate (%) | 5 | 88 | 94 | 93 | 99 | 10 | 86 | 93 | 94 | 98 | 15 | 80 | 87 | 92 | 98 |
| Mean path cost (m) | 5 | 1309.3 | 1253.5 | 1298.3 | 1167.6 | 10 | 1322.8 | 1297.3 | 1303.3 | 1183.4 | 15 | 1376.4 | 1328.9 | 1311.6 | 1179.7 |
| Time-consumption (ms) | 5 | 52.73 | 185.36 | 45.56 | 198.98 | 10 | 52.44 | 186. 84 | 44.75 | 199.25 | 15 | 53.02 | 185.97 | 45.33 | 199.06 |
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