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Multi-Head PPO-Based Path Planning for AUV Data Collection under Dynamic Ocean Currents
- Kim, Minho;
- Seol, Seunghwan;
- Lee, Samghwa;
- Kim, Yongcheol;
- Chung, Jaehak
Citations
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0초록
This paper proposes a reinforcement learning- based path planning framework for autonomous underwater vehicle (AUV) data collection in dynamic ocean currents, simultaneously considering propulsion and communication energy, buffer capacity, and Age of Information (AoI). By employing a multi-head PPO network, the method jointly learns node selection and velocity control. Simulation results indicate that the proposed approach outperforms the greedy baseline in energy efficiency and mission success rate, with approximately 12% higher offloading efficiency and 11% lower AoI. © 2026 IEEE.
키워드
Age of Information; Autonomous Underwater Vehicle; Path Planning; PPO; Reinforcement Learning; Underwater Sensor Network
- 제목
- Multi-Head PPO-Based Path Planning for AUV Data Collection under Dynamic Ocean Currents
- 저자
- Kim, Minho; Seol, Seunghwan; Lee, Samghwa; Kim, Yongcheol; Chung, Jaehak
- 발행일
- 2026
- 유형
- Conference paper
- 저널명
- 2026 International Conference on Electronics, Information, and Communication, ICEIC 2026