Research on UUV Obstacle Avoiding Method Based on Recurrent Neural Networks

Table 3

The reasons for failure of obstacle avoidance planning in statistical experiment.

False alarm rate (%)	Reason	CW-RNN96	CW-RNN180	LSTM18	LSTM45
5	Collision (%)	2	1	0	0
	Disorientation (%)	5	2	1	0
	Non-arrival (%)	5	3	6	1
10	Collision (%)	3	2	0	0
	Disorientation (%)	6	3	0	0
	Non-arrival (%)	5	2	6	2
15	Collision (%)	5	4	0	0
	Disorientation (%)	9	5	2	0
	Non-arrival (%)	6	4	6	2