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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
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120 International Conference Kyu-Yeul Lee, Ju-Hwan Cha, Joon-Chae Lee, Myung-Il Roh, Ji-Hyun Hwang, "Determination of the Optimal Operating Condition of Dual Mixed Refrigerant Cycle at the Pre-FEED Stage of LNG FPSO Topside Liquefaction Process", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2011, Maui, USA, pp. 151-158, 2011.06.19-24 file 2011-06-19
119 International Conference Nam-kug Ku, Sol Ha, Myung-Il Roh, Kyu-Yeul Lee, "Dynamic Response Analysis of Multibody System in Discrete Event Simulation", Proceedings of ICORES(International Conference on Operations Research and Enterprise Systems) 2012, Algarve, Portugal, pp. 447-453, 2012.02.04-06 file 2012-02-04
118 International Conference Ji-Hyun Hwang, Nam-Kug Ku, Joon-Chae Lee, Myung-Il Roh, Kyu-Yeul Lee, "Optimal Synthesis of LNG FPSO Liquefaction Cycles", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2012, Rhodes, Greece, pp. 927-935, 2012.06.17-22 file 2012-06-17
117 International Conference Tae-Sub Um, Jeong-Hoon Park, Myung-Il Roh, "Determination of Optimal Principal Dimensions of the Hatch Cover for Lightening of a Bulk Carrier", Proceedings of ISGMA(International Symposium on Green Manufacturing and Applications) 2012, Jeju, Korea, pp. 1-7, 2012.08.27-29 file 2012-08-27
116 International Conference Se-Yong Jeong, Seong-Ho Seo, Myung-Il Roh, "A Method for Determining a Ship Economic Route for Fuel Saving", Proceedings of ISGMA(International Symposium on Green Manufacturing and Applications) 2012, Jeju, Korea, pp. 1-5, 2012.08.27-29 file 2012-08-27
115 International Conference Seong-Ho Seo, Myung-Il Roh, Nam-Kug Ku, Kyu-Yeul Lee, "Dynamic Response Simulation of an Offshore Wind Turbine Suspended by a Floating Crane", Proceedings of ISGMA(International Symposium on Green Manufacturing and Applications) 2012, Jeju, Korea, pp. 1-7, 2012.08.27-29 file 2012-08-27
114 International Conference Sang-Rai Cho, Jong-Min Kim, Young-Hun Kim, Joo-Sung Lee, Myung-Il Roh, "Towards More Rational Design of Ship Structures against Collisions", Proceedings of ICCGS(International Conference on Collision and Grounding of Ships) 2013, Trondheim, Norway, pp. 187-195, 2013.06.17-19 file 2013-06-17
113 International Conference Sol Ha, Nam-Kug Ku, Myung-Il Roh, "Ontological Modeling and Process Simulation of LNG FPSO Liquefaction Cycle based on DEVS Formalism", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2013, Alaska, USA, pp. 950-958, 2013.06.30-07.05 file 2013-06-30
112 International Conference Nam-Kug Ku, Sol Ha, Myung-Il Roh, Kyu-Yeul Lee, "Development of a Kernel for Dynamic Analysis of Various Types of Multi-Crane in Shipyard", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2013, Alaska, USA, pp. 693-701, 2013.06.30-07.05 file 2013-06-30
111 International Conference Nam-Kug Ku, Sol Ha, Myung-Il Roh, "Crane Modeling and Simulation in Offshore Structure Building Industry", Proceedings of ICCMS(International Conference on Computer Modeling and Simulation) 2014, Barcelona, Spain, pp. 1-7, 2014.02.20-21 file 2014-02-20
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