用于基准测试4D水下滑翔机规划算法的浏览器原生数字测试场
A Browser-Native Digital Test Range for Benchmarking 4D Ocean-Glider Planning Algorithms
- LSU（路易斯安那州立大学）
- U.S. Naval Research Lab（美国海军研究实验室）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本研究提出一种浏览器原生数字测试场，用于基准测试4D水下滑翔机规划算法，通过OSSE实验评估了五种经典规划器，为水下滑翔机预部署实验提供了可复现的科学追溯操作空间。
AI中文摘要：
对水下滑翔机规划器进行重复原位评估需要稀缺的载体、操作人员、部署与回收资源，且无法为不同算法重置海洋条件。我们提出一种无需安装、基于浏览器的引导式数字测试场，可将选定区域转化为可复现的四维实验。该系统引导用户完成从区域域选择、任务范围的测深、时间/深度强迫、科学目标、可选任务分解、路径指定、洋流平流执行、观测生成到评分的全流程。其核心贡献是建立了通用的“规划-观测”契约，统一了手动路径、透明内置算法及导入的经典或学习型规划器输出中载体、感知与评估器的假设，导出的产物可形成数据集就绪的记录。通过受控的观测系统模拟实验（OSSE），在两个场景、三个确定性种子、校准后的60小时时间范围内评估了五种经典规划器，所有54个任务均完成且无严重违规，规划器排名与下潜策略效应揭示了操作与科学层面的权衡；真实的公开部署提供了现场参考的审计以界定当前运动学边界；独立开发的源锁定GliderFlight 1.2.0通过Pyodide/WebAssembly实现了浏览器原生等效性，为高保真多层模拟建立了路径，形成的操作空间可科学追溯且组件合格，适用于任务规模的预部署实验。
英文摘要：
Repeated in-situ evaluation of ocean-glider planners requires scarce vehicles, operators, deployment and recovery resources, and ocean conditions that cannot be reset for competing algorithms. We present a guided, installation-free browser-native digital test range that transforms a selected region into a reproducible four-dimensional experiment. The system leads users from regional domain selection through mission-scoped bathymetry, time/depth forcing, science objectives, optional task decomposition, route specification, current-advected execution, observation generation, and scoring. Its primary contribution is a common plan-to-observation contract unifying vehicle, sensing, and evaluator assumptions across manual routes, transparent built-in algorithms, and imported classical or learned-planner outputs, while exported artifacts form dataset-ready records. A controlled Observing System Simulation Experiment (OSSE) evaluates five classical planners in two episodes, three deterministic seeds, and a calibrated 60-hour horizon. All 54 missions completed and recovered without hard violations, while planner rankings and dive-policy effects revealed operational-scientific tradeoffs. An authentic public deployment supplied a field-referenced audit to scope current kinematic boundaries. Separately, source-locked GliderFlight 1.2.0 achieved native-to-browser parity through Pyodide/WebAssembly, establishing a pathway for high-fidelity multi-tier simulation. The resulting operational space is scientifically traceable and component-qualified for mission-scale pre-deployment experimentation.
