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A Reinforcement Learning-Based Path Optimization for Autonomous Underwater Vehicle Mission Execution in Dynamic Marine Environments
Hyojun Ahn, Shincheon Ahn, Emily Jimin Roh, Ilseok Song, Jooeun Kwon, Sei Kwon, Youngdae Kim, Soohyun Park, Joongheon Kim
http://doi.org/10.5626/JOK.2025.52.6.519
This paper proposes an AOPF (Autonomous Underwater Vehicle Optimal Path Finder) algorithm for AUV mission execution and path optimization in dynamic marine environments. The proposed algorithm utilizes a PPO (Proximal Policy Optimization)-based reinforcement learning method in combination with a 3-degree-of-freedom (DOF) model, enabling a balanced approach between obstacle avoidance and effective target approach. This method is designed to achieve faster convergence and higher mission performance compared to the DDPG (Deep Deterministic Policy Gradient) algorithm. Experimental results demonstrated that the algorithm enabled stable learning and generated efficient paths. Furthermore, the proposed approach shows strong potential for real-world deployment in complex marine environments. It offers scalability to multi-AUV cooperative control scenarios.
A Similarity-Based Multi-Knowledge Transfer Algorithm for Enhancing Learning Efficiency of Reinforcement Learning-Based Autonomous Agent
Yeryeong Cho, Soohyun Park, Joongheon Kim
http://doi.org/10.5626/JOK.2025.52.4.310
This paper proposed a similarity-based multi-knowledge transfer algorithm (SMTRL) to enhance the learning efficiency of autonomous agents in reinforcement learning. SMTRL can calculates the similarity between pre-trained models and the current model and dynamically adjust the knowledge transfer ratio based on this similarity to maximize learning efficiency. In complex environments, autonomous agents face significant challenges when learning independently, as this process can be time-consuming and inefficient, making knowledge transfer essential. However, differences between pre-trained models and actual environments can result in negative transfer, leading to diminished learning performance. To tackle this issue, SMTRL dynamically can adjusts the ratio of knowledge transfer from highly similar pre-trained models, thereby accelerating learning stability. Furthermore, experimental results demonstrated that the proposed algorithm outperformed traditional reinforcement learning and traditional knowledge transfer learning in terms of convergence speed. Therefore, this paper introduces a novel approach to efficient knowledge transfer for autonomous agents and discusses its applicability to complex mobility environments and directions for future research.
An Empirical Study of MISRA-C Related Source Code Changes in Open-source Software Projects
Suhyun Park, Jaechang Nam, Shin Hong
http://doi.org/10.5626/JOK.2024.51.8.718
This paper presents empirical studies on 75 open-source projects hosted on GitHub to explore how source code changes align with MISRA C coding guidelines. Through our analysis of the studied projects, we have identified eight distinctive keywords that represent the software domains where compliance with MISRA C coding guidelines is likely to be found. Additionally, we discovered that 54.75% of the studied projects utilizes at least one static rule checker. In the 75 studied projects, we found code changes associated with 75 MISRA C coding rules. The analyses of these code changes reveal that multiple MISRA C-related code changes often occur in a short timeframe, and, on average, each MISRA C-related code change modifies 1124 lines of code at once.
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