Journal - Luman Zhao, Myung-Il Roh, Sung-Jun Lee, "Control Method for Path Following and Collision Avoidance of Autonomous Ships Based on Deep Reinforcement Learning", Journal of Marine Science and Technology (Taiwan), Vol. 27, No. 4, pp. 293-310, 2019.08.01

Atachment
첨부 '1'	JMST-TW(201908).pdf,

Extra Form
Abstract	Autonomous ships have received increasing attention in the maritime industry. The development of a real-time path following and collision avoidance system complying with the International Regulations for Preventing Collisions at Sea (COLREGs) is crucial to the development of autonomous ships. In this study, we proposed a novel deep reinforcement learning (RL) algorithm to improve the efficacy and efficiency of the path following and collision avoidance system. To verify the proposed algorithm, we conducted simulations of an autonomous ship under unknown environmental disturbances to adjust its heading in real time. A three-degree-of-freedom dynamic model for the autonomous ship was developed, and a line-of-sight (LOS) guidance system was used to guide the autonomous ship along a predefined path. Then, a proximal policy optimization (PPO) algorithm was implemented for the problem. We found that, after applying the advanced deep-RL method, an autonomous ship could learn the safest and most economical avoidance behavior through repeated trials. The simulation results showed that the proposed algorithm guaranteed collision avoidance with encountered moving ships while ensuring that the ship followed a predefined path. Additionally, the algorithm demonstrated that it could manage complex scenarios with various encountered ships in compliance with COLREGs, showing excellent adaptability to unknown complex environments.
Publication Date	2019-08-01
Role	Corresponding Author
Category	SCIE
Impact Factor	0.372

Abstract

Autonomous ships have received increasing attention in the maritime industry. The development of a real-time path following and collision avoidance system complying with the International Regulations for Preventing Collisions at Sea (COLREGs) is crucial to the development of autonomous ships. In this study, we proposed a novel deep reinforcement learning (RL) algorithm to improve the efficacy and efficiency of the path following and collision avoidance system. To verify the proposed algorithm, we conducted simulations of an autonomous ship under unknown environmental disturbances to adjust its heading in real time. A three-degree-of-freedom dynamic model for the autonomous ship was developed, and a line-of-sight (LOS) guidance system was used to guide the autonomous ship along a predefined path. Then, a proximal policy optimization (PPO) algorithm was implemented for the problem. We found that, after applying the advanced deep-RL method, an autonomous ship could learn the safest and most economical avoidance behavior through repeated trials. The simulation results showed that the proposed algorithm guaranteed collision avoidance with encountered moving ships while ensuring that the ship followed a predefined path. Additionally, the algorithm demonstrated that it could manage complex scenarios with various encountered ships in compliance with COLREGs, showing excellent adaptability to unknown complex environments.

Publication Date

2019-08-01

Role

Corresponding Author

Category

SCIE

Impact Factor

0.372

Luman Zhao, Myung-Il Roh, Sung-Jun Lee, "Control Method for Path Following and Collision Avoidance of Autonomous Ships Based on Deep Reinforcement Learning", Journal of Marine Science and Technology (Taiwan), Vol. 27, No. 4, pp. 293-310, 2019.08.01

List of Articles
번호	분류	제목	Publication Date
150	International Journal	Seung-Ho Ham, Myung-Il Roh, “Time-domain Structural Analysis During Block Turnover and Lifting Using 2D Flexible Multibody Dynamics”, Marine Structures, Vol. 75, pp. 102841.1-26, 2021.01.01	2021-01-01
149	International Journal	Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Block Erection Simulation Considering Frictional Contact with Wire Ropes", Ocean Engineering, Vol. 217, pp. 1-24, 2020.12.01	2020-12-01
148	Domestic Journal	함승호, 노명일, 이종혁, “다목적 조선 해양 전용 시뮬레이터 개발을 위한 통합 시뮬레이션 방법”, 한국CDE학회 논문집, Vol. 25, No. 2, pp. 161-172, 2020.06.01	2020-06-01
147	International Journal	Do-Hyun Chun, Myung-Il Roh, Seung-Ho Ham, “Optimum Arrangement Design of Mastic Ropes for Membrane-type LNG Tanks Considering the Flatness of Thermal Insulation Panel and Production Cost”, Journal of Marine Science and Engineering, Vol. 8, No. 5	2020-05-16
146	International Journal	Seong-Hoon Kim, Myung-Il Roh, Min-Jae Oh, Sung-Woo Park, "Estimation of Ship Operational Efficiency from AIS Data Using Big Data Technology", IJNAOE, Vol. 12, pp. 440-453, 2020.05.21	2020-05-21
145	International Journal	Sang-Hyun Lee, Myung-Il Roh, Min-Jae Oh, Ki-Su Kim, "Optimal Layout Design of an LNG FPSO: A Case Study", Journal of Offshore Mechanics and Arctic Engineering, Vol. 142, No. 041403, pp. 1-17, 2020.08.01	2020-08-01
144	International Journal	Joo-Pil Lee, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "Design of a Wreck Removal Method Considering Safety and Economy", Ships and Offshore Structures, Vol. 15, No. 10, pp. 1037-1056, 2020.12.01	2020-12-01
143	International Journal	Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Collision Detection and Response of Multibody Systems Using a Position Difference Method and Non-Interpenetration Constraint in Shipbuilding Simulation", Ocean Engineering, Vol. 195, pp. 1-18, 2020.01.01	2020-01-01
142	International Journal	Luman Zhao, Myung-Il Roh, "COLREGs-Compliant Multiship Collision Avoidance Based on Deep Reinforcement Learning", Ocean Engineering, Vol. 191, pp. 1-15, 2019.11.01	2019-11-01
141	Domestic Journal	오민재, 노명일, 김범수, 김용환, “선박 내항성능 해석을 위한 선형 곡면으로부터의 오프셋 생성 프로그램 개발”, 한국CDE학회 논문집, Vol. 24, No. 2, pp. 1-10, 2019.06.01	2019-06-01
140	Domestic Journal	조영인, 오민재, 석영수, 이성준, 노명일, “딥러닝을 이용한 선형 설계 초기 단계에서의 저항 추정”, 한국CDE학회 논문집, Vol. 24, No. 2, pp. 1-8, 2019.06.01	2019-06-01
»	International Journal	Luman Zhao, Myung-Il Roh, Sung-Jun Lee, "Control Method for Path Following and Collision Avoidance of Autonomous Ships Based on Deep Reinforcement Learning", Journal of Marine Science and Technology (Taiwan), Vol. 27, No. 4, pp. 293-310, 2019.08.01	2019-08-01
138	International Journal	Xing Li, Myung-Il Roh, Seung-Ho Ham, "A Collaborative Simulation in Shipbuilding and the Offshore Installation Based on the Integration of the Dynamic Analysis, Virtual Reality, and Control Devices", IJNAOE, Vol. 11, No. 2, pp. 699-722, 2019.07.01	2019-07-01
137	International Journal	Min-Jae Oh, Myung-Il Roh, Sung-Woo Park, Do-Hyun Chun, Se-Hyun Myung, "Big Data-based Piping Material Analysis Framework in Offshore Structure for Contract Design", Ocean Systems Engineering, Vol. 9, No. 1, pp. 79-95, 2019.01.01	2019-01-01
136	International Journal	Seung-Ho Ham, Myung-Il Roh, "Dynamic Analysis of Block Offloading Using Self-propelled Modular Transporters", Automation in Construction, Vol. 96, pp. 411-432, 2018.12.01	2018-12-01
135	International Journal	Min-Jae Oh, Taw-Wan Kim, Myung-Il Roh, "G1 Bezier Surface Interpolation with T-junctions at a 3-Valent Singular Vertex", Computer Aided Geometric Design, Vol. 67, pp. 79-95, 2018.12.01	2018-12-01
134	International Journal	Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Performance Analysis of an Active Heave Compensation System on an Offshore Supply Vessel Using the Hardware-In-The-Loop Simulation", Journal of Marine Science and Technology (Taiwan), Vol. 26, No. 5	2018-10-01
133	International Journal	Hye-Won Lee, Myung-Il Roh, "Review of the Multibody Dynamics in the Applications of Ships and Offshore Structures", Ocean Engineering, Vol. 167, pp. 65-76, 2018.11.01	2018-11-01
132	International Journal	Hyun-Cheol Kim, Myung-Il Roh, Soon-Hung Han, "Passenger Evacuation Simulation of MV SEWOL Considering the Heeling Angle Change During Sinking", International Journal of Naval Architecture and Ocean Engineering, Vol. 11, No. 1, pp. 329-343, 2019.01.01	2019-01-01
131	International Journal	Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Nam-Kug Ku, "Coupled Analysis Method of a Mooring System and a Floating Crane Based on Flexible Multibody Dynamics Considering Contact with the Seabed", Ocean Engineering, Vol. 163, pp. 555-569, 2018.09.01	2018-09-01

번호

분류

제목

Publication Date

150

International Journal

Seung-Ho Ham, Myung-Il Roh, “Time-domain Structural Analysis During Block Turnover and Lifting Using 2D Flexible Multibody Dynamics”, Marine Structures, Vol. 75, pp. 102841.1-26, 2021.01.01 file