Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider

Table 3

Comparison of experimental data of the five algorithms (average of 1000 times).

Methods	Doc-CNN	DB-CNN	VIN	Oci-RRT	iAPF
Number of cycles	78	80	83	88	91
Path length	389.49	400.50	409.91	421.63	430.61
Unit energy path	0.16	0.12	0.12	0.15	0.11
Computation time	40.1	34.9	29.9	34.2	45.4