The invention provides a
robot plume tracking method based on continuous state behavioral domain intensive learning, which belongs to the field of
underwater robot path planning. The
robot plume tracking method is used for training an
underwater robot in path planning for plume
hydrothermal vent searching; the robot generates a
state vector in every plume tracking and inputs the
state vector intoa current decision-making neural network, the decision-making neural network outputs an advancing direction of the robot at the moment, and the robot updates a
state vector at a new moment and judgeswhether the single-time plume tracking satisfies a termination condition after operating at a
constant speed for a time period; when the termination condition is satisfied, the single-time plume tracking is finished, and the robot regenerates a new initial position; if the termination condition is not satisfied, the robot advances continuously at a next moment; and during the process, an intensivelearning
algorithm is used for updating the decision-making neural network at each moment until the
algorithm converges. The robot plume tracking method based on continuous state behavioral domain intensive learning has the advantages of fast learning speed and good convergence, can improve the flexibility of the robot tracking a plume
hydrothermal vent, and reduces the searching cost.