A STUDY ON AN ACCURATE UNDERWATER LOCATION OF HYBRID UNDERWATER GLIDERS USING MACHINE LEARNING SCIE SCOPUS

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Title
A STUDY ON AN ACCURATE UNDERWATER LOCATION OF HYBRID UNDERWATER GLIDERS USING MACHINE LEARNING
Author(s)
Jeong, Sang Ki; Hyeung-sik Choi; Ji, Dae Hyeong; Mai The Vu; Joon-young Kim; Sung Min Hong; Hyun Joon Cho
KIOST Author(s)
Jeong, Sang Ki(정상기)Ji, Dae Hyeong(지대형)
Publication Year
2020-12
Abstract
A hybrid underwater glider (HUG) is marine observation equipment that consumes a small amount of energy and offers greater range and navigation times. To achieve reduced energy consumption, however, the HUG uses imprecise navigation sensors, such as mems-type GPS and AHRS, resulting in inaccurate coordination. This study makes a new attempt on the application of machine learning algorithms in a way that complements sensor data errors to improve navigation performance. The proposed algorithm was used to a simulation of the HUG's navigation and control system, after which the updated heading angle was decided by using the previous position data and environmental data, such as ocean current and external forces. The learning algorithm was designed using three layers. Also, the Leaky ReLU activation function was used to solve the problems of gradient vanishing and dying ReLU of machine learning. And to improve the learning efficiency, active functions and the number of layers were changed. The simulation results show the excellent performance of the proposed learning algorithm.
ISSN
1023-2796
URI
https://sciwatch.kiost.ac.kr/handle/2020.kiost/39534
DOI
10.6119/JMST.202012_28(6).0007
Bibliographic Citation
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN, v.28, no.6, pp.518 - 527, 2020
Publisher
NATL TAIWAN OCEAN UNIV
Subject
Energy utilization; Machine learning; Marine navigation; Activation functions; Environmental data; Imprecise navigations; Learning efficiency; Marine observations; Navigation and control; Navigation performance; Underwater gliders; Learning algorithms
Keywords
hybrid underwater gliders; neural network algorithm; machine learning; multi-layer structure
Type
Article
Language
English
Document Type
Article
Publisher
NATL TAIWAN OCEAN UNIV
Related Researcher
Research Interests

Unmanned system,Marine security,무인체계,해양방위

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