Research on UUV Obstacle Avoiding Method Based on Recurrent Neural Networks

Table 2

The performance of all structures in statistical experiment.

	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