Skip to content
Extra Form
Abstract Recently, maritime accidents caused by human factors have increased according to the increase in the number of ships for sea transportation. Therefore, the autonomous navigation systems that find appropriate avoidance routes in a complex marine environment with various obstacles is attracting attention. In this study, we proposed a collision avoidance method using deep reinforcement learning (DRL) that generates an appropriate control action. DRL-based collision avoidance method derives the required rudder angle of own ship with given state of the own ship and target ship such as position, speed, and heading. To achieve the appropriate collision avoidance, it is necessary to assess the collision risk of the target ship accurately. Therefore, the probabilistic collision risk assessment method was proposed to predict the collision risk of the target ship with the probability distribution of the data. The probability distribution was calculated through the multivariate normal distribution of the four-dimensional variables of the position, speed, and heading angle of the target ship. The collision risk of the target ship was calculated through the probability distribution for each variable and the CPA (Closest Point of Approach)-based collision risk assessment method. To verify the proposed method, we applied the DRL-based collision avoidance method and the collision risk assessment method to various scenarios. The proposed method reliably avoided collisions through flexible paths for complex situations.
Publication Date 2021-12-07

Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, "Deep Reinforcement Learning-Based Ship Collision Avoidance Considering Collision Risk", Proceedings of TEAM(Asian-Pacific Technical Exchange and Advisory Meeting on Marine Structures) 2022, Istanbul, Turkey, pp. 268, 2021.12.06-08


List of Articles
번호 분류 제목 Publication Date
20 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Toward Advanced Mooring Analysis of a Floating Crane Based on Flexible Multibody Dynamics", Proceedings of SUTTC(The Society for Underwater Technology Technical Conference) 2017, Haikou, China, 2017.11.23-24 file 2017-11-23
19 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Ship Mooring Design Based on Flexible Multibody Dynamics", Proceedings of the 13th IMDC, Helsinki, Finland, pp. 563-566, 2018.06.10-14 file 2018-06-11
18 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Modeling of a Mooring System Based on Flexible Multibody Dynamics Considering Contact with Seabed", Proceedings of the 9th ACMD 2018, Xian, China, 2018.08.19-23 file 2018-08-20
17 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Method for the Accurate and Automatic Operation of Offshore Floating Cranes for the Block Erection in Shipyards", Proceedings of OMAE 2020, Held in Virtual Conference, 2020.08.03-07 file 2020-08-05
16 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Control of the Underactuated Gantry Crane for the Block Erection Operation in the Shipyard", MIM 2019, Berlin, Germany, 2019.08.28-30 file 2019-08-29
15 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Collision Analysis of Block Erection by a Floating Crane", Proceedings of ACDDE 2016, Jeju, Korea, 2016.10.25-28 file 2016-10-27
14 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Dynamics-based Collision Analysis for Block Erection in Shipyard", Proceedings of the 30th Asian-Pacific TEAM 2016, Mokpo, Korea, 2016.10.10-13 file 2016-10-12
13 International Conference Hye-Won Lee, Myung-Il Roh, Luman Zhao, Seung-Ho Ham, Nakwan Kim, Chan-Woo Yu, "Integrated Development Environment Of Autonomic Software for USV (Unmanned Surface Vehicle) Based on Ros (Robot Operating System)", Proceedings of ICCAS 2017, Singapore file 2017-09-26
12 International Conference Hye-Won Lee, Myung-Il Roh, Ki-Su Kim, Kuk-Jin Kang, Seong-Yeob Jung, "Arctic Sea Route Planning Based on POLARIS Rule", Proceedings of ISOPE 2019, Honolulu, Hawaii, pp. 875-877, 2019.06.16-21 file 2019-06-20
11 International Conference Dong-Hoon Jeong, Myung-Il Roh, Seung-Ho Ham, Woo-Young Choi, Chan-Young Lee, Kyung-Min Seo, Dong-Chul Lee, "Simulation-Based Performances Analysis for Naval Ships at the Initial Design Stage", Proceedings of ISOPE 2016, Rhodes, Greece file 2016-06-30
Board Pagination Prev 1 ... 5 6 7 8 9 10 11 12 13 14 Next
/ 14

Powered by Xpress Engine / Designed by Sketchbook

sketchbook5, 스케치북5

sketchbook5, 스케치북5

나눔글꼴 설치 안내


이 PC에는 나눔글꼴이 설치되어 있지 않습니다.

이 사이트를 나눔글꼴로 보기 위해서는
나눔글꼴을 설치해야 합니다.

설치 취소