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Abstract Developing a high-level autonomous collision avoidance system for ships that can operate in an unstructured and unpredictable environment is challenging. Particularly in congested sea areas, each ship should make decisions continuously to avoid collisions with other ships in a busy and complex waterway. Furthermore, recent reports indicate that a large number of marine collision accidents are caused by or are related to human decision failures concerning a lack of situational awareness and failure to comply with the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). In this study, we propose an efficient method to overcome multiship collision avoidance problems based on the Deep Reinforcement Learning (DRL) algorithm by expanding our previous study (Zhao et al., 2019). The proposed method directly maps the states of encountered ships to an ownship's steering commands in terms of rudder angle using the Deep Neural Network (DNN). This DNN is trained over multiple ships in rich encountering situations using the policy-gradient based DRL algorithm. To address multiple encountered ships, we classify them into four regions based on COLREGs, and consider only the nearest ship in each region. We validate the proposed collision avoidance method in a variety of simulated scenarios with thorough performance evaluations, and demonstrate that the final DRL controller can obtain time efficient and collision-free paths for multiple ships. Simulation results indicate that multiple ships can avoid collisions with each other while following their own predefined paths simultaneously. In addition, the proposed approach demonstrates its excellent adaptability to unknown complex environments with various encountered ships.
Publication Date 2019-11-01
Role Corresponding Author
Category SCI
Impact Factor 1.894

List of Articles
번호 분류 제목 Publication Date
152 Domestic Journal 이준범, 노명일, 오민재, “공간 가용성을 고려한 해양 구조물의 배관 라우팅”, 한국CDE학회 논문집, Vol. 24, No. 3, pp. 280-288, 2019.08.25 file 2019-08-25
151 Domestic Journal 이수민, 노명일, 하지상, 이원재, “해상 이미지로부터 선박의 위치를 추정하는 방법”, 한국CDE학회 논문집, Vol. 25, No. 3, pp. 320-328, 2020.09.01 file 2020-09-01
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 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 file 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 file 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 file 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 file 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 file 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 file 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 file 2020-01-01
» 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 file 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 file 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 file 2019-06-01
139 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 file 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 file 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 file 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 file 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 file 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 file 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 file 2018-11-01
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