Do-Hyeok Ahn, Myung-Il Roh, In-Chang Yeo, Hye-Won Lee, Seung-Ho Ham, "A Control Method Based on Safe Reinforcement Learning for Cranes in Shipyards", Proceedings of OMAE(International Conference on Ocean, Offshore and Arctic Engineering) 2026, Tokyo, Japan, 2026.06.07-12
International Conference
2025.11.11 12:40
Do-Hyeok Ahn, Myung-Il Roh, In-Chang Yeo, Hye-Won Lee, Seung-Ho Ham, "A Control Method Based on Safe Reinforcement Learning for Cranes in Shipyards", Proceedings of OMAE 2026, Tokyo, Japan, 2026.06.07-12
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| Abstract | The block lifting operation is a critical process in the construction of ships and offshore structures, where precise, safe control of large cranes is essential. However, ensuring stability during this operation is challenging due to the combined effects of multiple factors, including variations in block geometry and weight, lug positions, and environmental disturbances such as wind and waves. In particular, the control problem becomes even more complex in gantry and offshore floating cranes due to the dynamic coupling among components, including various types of wire ropes, trolleys, hooks, and booms. Traditional control methods, including PID (Proportional-Integral-Derivative) and model-based controllers, often fail to fully capture these nonlinear and coupled dynamics, leading to unsafe control. To address these challenges, we proposed a control method based on safe reinforcement learning. The proposed method simultaneously optimizes trolley motion and wire-rope hoisting by analyzing the positions, velocities, and accelerations of both the crane and the block. Integrating safety constraints into the reinforcement learning allows the controller to prevent excessive wire tension and unstable block oscillation while accurately positioning the block at the target location. The effectiveness of the proposed method was validated through a multibody dynamics-based simulation. Compared to traditional control methods, the proposed method achieved superior performance in suppressing block oscillation, enhancing control stability, and improving operational efficiency. Furthermore, simulations under realistic environmental conditions demonstrated the successful execution of complex operations, including block lifting and turnover. These results indicate that the proposed control method offers a promising direction toward intelligent and reliable automation of crane operations in shipyards. |
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| Publication Date | 2026-06-10 |
Prev 공민철, 노명일, 한인수, 최성원, 김미진, 김정연, 이현승, 이인석, "실적 데이터, 배관 설계 특성 및 전문가 지식을 고려한 선박의 자동 배관 배치 방법", 2025년도 대한조선학회 추계학술발표회, 창원, pp. 442-443, 2025.11.13-11.14
공민철, 노명일, 한인수, 최성원, 김미진, 김정연, 이현승, 이인석, "실적 데이터, 배관 설계 특성 및 전문가 지식을 고려한 선박의 자동 배관 배치 방법", 2025년도 대한조선학회 추계학술발표회, 창원, pp. 442-443, 2025.11.13-11.14
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