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Abstract Developing a high-level autonomous collision avoidance system for ships which can operate in an unstructured and unpredictable environment is a challenging task. Especially in the congested sea areas, each ship should continuously make decisions to avoid collisions with many other ships in the busy and complex waterway. Furthermore, recent reports indicate that a large number of collision accidents at sea are caused by or related to human decision failures with lack of situational awareness and failure to comply with International Regulations for Preventing Collisions at Sea (COLREGs). In this study, we propose a robust and efficient method to collision avoidance problems of multi-ships based on the deep reinforcement learning (DRL) algorithm. The proposed method directly maps the states of encountered ships to an ownship’s steering commands in terms of the rudder angle using a deep neural network (DNN). This DNN is trained over multi-ships on rich encountering situations using the policy gradient based DRL algorithm. To handle multiple encountered ships, we classify them into four regions based on COLREGs, and only consider the nearest ship in each region. We validate the proposed method in a variety of simulated scenarios thorough performance evaluations. The result shows that the proposed method can find time efficient, collision-free paths for multi-ships. Also, it shows that the proposed method has excellent adaptability to unknown complex environments.
Publication Date 2019-09-24

Luman Zhao, Myung-Il Roh, Hye-Won Lee, Do-Hyun Chun, Sung-Jun Lee, "A Collision Avoidance Method of Multi-ships Based on Deep Reinforcement Learning Considering COLREGs", Proceedings of ICCAS(International Conference on Computer Applications in Shipbuilding) 2019, Rotterdam, Netherlands, pp. 85-88, 2019.09.24-26


List of Articles
번호 분류 제목 Publication Date
120 International Conference Sol Ha, Ki-Su Kim, Seung-Ho Ham, Myung-Il Roh, Nam-Kug Ku, "Co-simulation of Multibody System Dynamics and Moving Particle Semi-implicit Method for Heavy Load Lifting Operations in Shipyards", Proceedings of ISOPE 2015, Hawaii, USA, 2015.06.21-26 file 2015-06-25
119 International Conference Seung-Min Lee, Myung-Il Roh, Ki-Su Kim, Seung-Ho Ham, "Optimization of Tugboats Operation for Transporting an Offshore Floating Crane in Environmental Disturbance", International Conference on Mechanical Design and Engineering, 2017.01.20-22 file 2017-01-21
118 International Conference Seung-Ho Ham, Myung-Il Roh, Xing Li, Luman Zhao, "Collaborative Simulation of the Block Turn-over Operation Based on Multibody System Dynamics and Virtual Reality", Proceedings of SUTTC 2015, Bejing, China, 2015.10.23-25 file 2015-10-24
117 International Conference Seung-Ho Ham, Myung-Il Roh, Luman Zhao, Sol Ha, "Drillship Simulation Based on the Integration of Motion Analysis, Virtual Reality, and Motion Platform", Proceedings of TEAM 2015, Vladivostok, Russia, 2015.10.12-15 file 2015-10-13
116 International Conference Seung-Ho Ham, Myung-Il Roh, Ki-Su Kim, Luman Zhao, Sol Ha, "Integrated Simulation Framework Based on Multibody Dynamics, Realistic Visualization, and Hardware for Shipbuilding Production and Offshore Installation", Proceedings of MARSIM 2015, UK file 2015-09-10
115 International Conference Seung-Ho Ham, Myung-Il Roh, Jong-Hyuk Lee, Sung-Jun Lee, "Multi-purpose Simulator for Ships and Offshore Structure", Proceedings of ACDDE 2018, Okinawa, Japan, 2018.11.1-3 file 2018-11-01
114 International Conference Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, Jeong-Woo Hong, "Multi-physics Simulation Framework for Design and Production of Ships and Offshore Plants", Proceedings of PRADS 2016, Copenhagen, Denmark, 2016.09.04-09.08 file 2016-09-07
113 International Conference Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, Dong-Hoon Jeong, "Physics-based Simulation Considering Collision During Production and Installation of Ships and Offshore Plants", Proceedings of ICCGS 2016, Ulsan, Korea, 2016.06.15-18 file 2016-06-16
112 International Conference Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Physics-based Simulation and Its Applications for Design, Production, and Installation of Ships and Offshore Structures", Proceedings of SUTTC 2017, Haikou, China, pp. 1, 2017.11.23-24 file 2017-11-24
111 International Conference Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Lifting Design for Ships and Offshore Structures Using Non-interpenetration Constraints and Flexible Multibody System Dynamics", Proceedings of ISOPE 2018, Sapporo, Japan, pp. 910-913, 2018.06.10-15 file 2018-06-11
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