3D Path Planning on AUV LAR 1.0 (Evaluation Sets)
261.86Energy Consumption (J)CFD
Evaluation results
| Method | Links | ||
|---|---|---|---|
| CFDSpeed=0.3 - 1.0, Angle=45 - 502026.06 | 261.86 | 12.51 | |
| CFDSpeed=0.3 - 1.0, Angle=0 - 152026.06 | 265.77 | 7.27 | |
| CFDSpeed=0.3 - 1.0, Angle=30 - 452026.06 | 267.1 | 9.31 | |
| CFDSpeed=0.3 - 1.0, Angle=15 - 302026.06 | 270.28 | 6.38 | |
| PatchGANSpeed=0.3 - 1.0, Angle=0 - 152026.06 | 281.42 | 1.55 | |
| 2D3DGAN (SA)Speed=0.3 - 1.0, Angle=45 - 502026.06 | 281.7 | 5.22 | |
| PatchGANSpeed=0.3 - 1.0, Angle=45 - 502026.06 | 281.82 | 5.18 | |
| CFD_NNSpeed=0.3 - 1.0, Angle=0 - 152026.06 | 284.04 | 0.62 | |
| CurrentSpeed=0.3 - 1.0, Angle=0 - 152026.06 | 285.81 | — | |
| 2D3DGAN (SA)Speed=0.3 - 1.0, Angle=15 - 302026.06 | 286.17 | 0.67 | |
| 2D3DGAN (SA)Speed=0.3 - 1.0, Angle=0 - 152026.06 | 286.61 | 0.28 | |
| CFD_NNSpeed=0.3 - 1.0, Angle=45 - 502026.06 | 286.94 | 3.38 | |
| CFD_NNSpeed=0.3 - 1.0, Angle=15 - 302026.06 | 287.53 | 0.19 | |
| CurrentSpeed=0.3 - 1.0, Angle=15 - 302026.06 | 288.09 | — | |
| PatchGANSpeed=0.3 - 1.0, Angle=15 - 302026.06 | 290.06 | 0.68 | |
| CFD_NNSpeed=0.3 - 1.0, Angle=30 - 452026.06 | 291.15 | 0.7 | |
| 2D3DGAN (SA)Speed=0.3 - 1.0, Angle=30 - 452026.06 | 291.41 | 0.61 | |
| CurrentSpeed=0.3 - 1.0, Angle=30 - 452026.06 | 293.18 | — | |
| PatchGANSpeed=0.3 - 1.0, Angle=30 - 452026.06 | 293.97 | 0.27 | |
| CurrentSpeed=0.3 - 1.0, Angle=45 - 502026.06 | 296.8 | — | |
| Current_NNSpeed=0.3 - 1.0, Angle=15 - 302026.06 | 322.12 | 11.16 | |
| Current_NNSpeed=0.3 - 1.0, Angle=0 - 152026.06 | 322.65 | 12.11 | |
| Current_NNSpeed=0.3 - 1.0, Angle=45 - 502026.06 | 323.07 | 8.48 | |
| Current_NNSpeed=0.3 - 1.0, Angle=30 - 452026.06 | 326.46 | 10.74 | |
| CFDSpeed=1.0 - 2.0, Angle=45 - 502026.06 | 1,375.97 | 11.75 | |
| CFDSpeed=1.0 - 2.0, Angle=30 - 452026.06 | 1,425.3 | 8.03 | |
| CFDSpeed=1.0 - 2.0, Angle=0 - 152026.06 | 1,429.44 | 7.09 | |
| CFDSpeed=1.0 - 2.0, Angle=15 - 302026.06 | 1,456.84 | 5.74 | |
| 2D3DGAN (SA)Speed=1.0 - 2.0, Angle=45 - 502026.06 | 1,465.31 | 5.47 | |
| PatchGANSpeed=1.0 - 2.0, Angle=45 - 502026.06 | 1,493.01 | 3.6 | |
| PatchGANSpeed=1.0 - 2.0, Angle=0 - 152026.06 | 1,498.5 | 2.38 | |
| CFD_NNSpeed=1.0 - 2.0, Angle=0 - 152026.06 | 1,499.89 | 2.28 | |
| 2D3DGAN (SA)Speed=1.0 - 2.0, Angle=0 - 152026.06 | 1,500.02 | 2.28 | |
| 2D3DGAN (SA)Speed=1.0 - 2.0, Angle=15 - 302026.06 | 1,500.74 | 2.78 | |
| CFD_NNSpeed=1.0 - 2.0, Angle=45 - 502026.06 | 1,506.58 | 2.69 | |
| 2D3DGAN (SA)Speed=1.0 - 2.0, Angle=30 - 452026.06 | 1,512.89 | 2.07 | |
| CFD_NNSpeed=1.0 - 2.0, Angle=30 - 452026.06 | 1,520.92 | 1.54 | |
| CFD_NNSpeed=1.0 - 2.0, Angle=15 - 302026.06 | 1,525.17 | 1.16 | |
| PatchGANSpeed=1.0 - 2.0, Angle=30 - 452026.06 | 1,529.36 | 0.99 | |
| CurrentSpeed=1.0 - 2.0, Angle=0 - 152026.06 | 1,534.55 | — | |
| PatchGANSpeed=1.0 - 2.0, Angle=15 - 302026.06 | 1,537.94 | 0.33 | |
| CurrentSpeed=1.0 - 2.0, Angle=15 - 302026.06 | 1,542.98 | — | |
| CurrentSpeed=1.0 - 2.0, Angle=30 - 452026.06 | 1,544.56 | — | |
| CurrentSpeed=1.0 - 2.0, Angle=45 - 502026.06 | 1,547.69 | — | |
| Current_NNSpeed=1.0 - 2.0, Angle=45 - 502026.06 | 1,697.98 | 9.26 | |
| Current_NNSpeed=1.0 - 2.0, Angle=0 - 152026.06 | 1,730.2 | 11.99 | |
| Current_NNSpeed=1.0 - 2.0, Angle=15 - 302026.06 | 1,731.34 | 11.51 | |
| Current_NNSpeed=1.0 - 2.0, Angle=30 - 452026.06 | 1,734.02 | 11.56 | |
| CFDSpeed=2.0 - 3.0, Angle=45 - 502026.06 | 3,631.34 | 11.4 | |
| CFDSpeed=2.0 - 3.0, Angle=0 - 152026.06 | 3,770.71 | 7.04 | |
| CFDSpeed=2.0 - 3.0, Angle=30 - 452026.06 | 3,783.5 | 7.76 | |
| CFDSpeed=2.0 - 3.0, Angle=15 - 302026.06 | 3,838.96 | 6.05 | |
| 2D3DGAN (SA)Speed=2.0 - 3.0, Angle=45 - 502026.06 | 3,880.72 | 4.77 | |
| PatchGANSpeed=2.0 - 3.0, Angle=45 - 502026.06 | 3,927.78 | 3.56 | |
| PatchGANSpeed=2.0 - 3.0, Angle=0 - 152026.06 | 3,932.06 | 2.85 | |
| 2D3DGAN (SA)Speed=2.0 - 3.0, Angle=15 - 302026.06 | 3,962.18 | 2.89 | |
| CFD_NNSpeed=2.0 - 3.0, Angle=45 - 502026.06 | 3,972.78 | 2.42 | |
| CFD_NNSpeed=2.0 - 3.0, Angle=0 - 152026.06 | 3,981.27 | 1.61 | |
| 2D3DGAN (SA)Speed=2.0 - 3.0, Angle=0 - 152026.06 | 3,982.16 | 1.59 | |
| PatchGANSpeed=2.0 - 3.0, Angle=15 - 302026.06 | 4,015.82 | 1.55 | |
| 2D3DGAN (SA)Speed=2.0 - 3.0, Angle=30 - 452026.06 | 4,016.61 | 1.79 | |
| PatchGANSpeed=2.0 - 3.0, Angle=30 - 452026.06 | 4,020.81 | 1.68 | |
| CurrentSpeed=2.0 - 3.0, Angle=0 - 152026.06 | 4,045.79 | — | |
| CFD_NNSpeed=2.0 - 3.0, Angle=30 - 452026.06 | 4,051.15 | 0.93 | |
| CFD_NNSpeed=2.0 - 3.0, Angle=15 - 302026.06 | 4,054.91 | 0.58 | |
| CurrentSpeed=2.0 - 3.0, Angle=45 - 502026.06 | 4,070.17 | — | |
| CurrentSpeed=2.0 - 3.0, Angle=15 - 302026.06 | 4,078.4 | — | |
| CurrentSpeed=2.0 - 3.0, Angle=30 - 452026.06 | 4,088.97 | — | |
| Current_NNSpeed=2.0 - 3.0, Angle=45 - 502026.06 | 4,493.74 | 9.89 | |
| Current_NNSpeed=2.0 - 3.0, Angle=0 - 152026.06 | 4,580.51 | 13.22 | |
| Current_NNSpeed=2.0 - 3.0, Angle=15 - 302026.06 | 4,580.58 | 11.6 | |
| Current_NNSpeed=2.0 - 3.0, Angle=30 - 452026.06 | 4,611.35 | 12.01 | |
| CFDSpeed=3.0 - 4.0, Angle=45 - 502026.06 | 6,985.82 | 11.91 | |
| CFDSpeed=3.0 - 4.0, Angle=0 - 152026.06 | 7,238 | 7.15 | |
| CFDSpeed=3.0 - 4.0, Angle=30 - 452026.06 | 7,280.41 | 7.88 | |
| CFDSpeed=3.0 - 4.0, Angle=15 - 302026.06 | 7,391.47 | 5.94 | |
| 2D3DGAN (SA)Speed=3.0 - 4.0, Angle=45 - 502026.06 | 7,404.1 | 6.11 | |
| PatchGANSpeed=3.0 - 4.0, Angle=45 - 502026.06 | 7,474.3 | 5.17 | |
| PatchGANSpeed=3.0 - 4.0, Angle=0 - 152026.06 | 7,547.74 | 2.96 | |
| PatchGANSpeed=3.0 - 4.0, Angle=15 - 302026.06 | 7,646.23 | 2.56 | |
| 2D3DGAN (SA)Speed=3.0 - 4.0, Angle=15 - 302026.06 | 7,672.88 | 2.21 | |
| 2D3DGAN (SA)Speed=3.0 - 4.0, Angle=0 - 152026.06 | 7,683.14 | 1.19 | |
| PatchGANSpeed=3.0 - 4.0, Angle=30 - 452026.06 | 7,725.92 | 1.95 | |
| 2D3DGAN (SA)Speed=3.0 - 4.0, Angle=30 - 452026.06 | 7,745.55 | 1.7 | |
| CFD_NNSpeed=3.0 - 4.0, Angle=0 - 152026.06 | 7,767.26 | 0.1 | |
| CurrentSpeed=3.0 - 4.0, Angle=0 - 152026.06 | 7,774.88 | — | |
| CFD_NNSpeed=3.0 - 4.0, Angle=45 - 502026.06 | 7,807.85 | 0.8 | |
| CFD_NNSpeed=3.0 - 4.0, Angle=30 - 452026.06 | 7,823.39 | 0.7 | |
| CurrentSpeed=3.0 - 4.0, Angle=15 - 302026.06 | 7,844.26 | — | |
| CFD_NNSpeed=3.0 - 4.0, Angle=15 - 302026.06 | 7,868.11 | 0.3 | |
| CurrentSpeed=3.0 - 4.0, Angle=45 - 502026.06 | 7,870.62 | — | |
| CurrentSpeed=3.0 - 4.0, Angle=30 - 452026.06 | 7,877.99 | — | |
| Current_NNSpeed=3.0 - 4.0, Angle=45 - 502026.06 | 8,717.78 | 10.21 | |
| Current_NNSpeed=3.0 - 4.0, Angle=30 - 452026.06 | 8,848.91 | 11.61 | |
| Current_NNSpeed=3.0 - 4.0, Angle=0 - 152026.06 | 8,875.77 | 13.22 | |
| Current_NNSpeed=3.0 - 4.0, Angle=15 - 302026.06 | 8,914.5 | 12.77 | |
| CFDSpeed=4.0 - 5.0, Angle=45 - 502026.06 | 11,496.03 | 12.09 | |
| CFDSpeed=4.0 - 5.0, Angle=0 - 152026.06 | 11,922.45 | 7.09 | |
| CFDSpeed=4.0 - 5.0, Angle=30 - 452026.06 | 12,004.95 | 7.97 | |
| CFDSpeed=4.0 - 5.0, Angle=15 - 302026.06 | 12,163.73 | 5.88 |