조로만, 노명일, "강화 학습 기반의 다 선박 충돌 회피 알고리즘 연구", 2019년도 대한조선학회 춘계학술발표회, 제주, pp. 186, 2019.05.15-17
Domestic Conference
2019.04.02 13:27
조로만, 노명일, "강화 학습 기반의 다 선박 충돌 회피 알고리즘 연구", 2019년도 대한조선학회 춘계학술발표회, 제주, pp. 186, 2019.05.15-17
조회 수 399
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| Abstract | Developing a collision avoidance system which can operate in an unpredictable environment is a challenging task. Especially in congested sea areas, each ship should continuously make decisions to avoid collisions with other ships while complying with the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). In this study, we proposed a robust and efficient method to collision avoidance for multi-ships based on the Deep Reinforcement Learning (DRL). The proposed method directly maps the states of the encountered target ships to an own ship’s steering commands related to rudder angle using the Deep Neural Network (DNN). This DNN is trained over the multi-ships on various situations using the policy gradient based DRL algorithm. However, the typical feedforward DNNs used in the domain require a fixed-dimensional input. To handle the multi-ship collision avoidance problem, we category the encountered target ships into four regions in terms of COLREGs for the purpose of fixing the input size. We performed a variety of simulation scenarios to verify the effectiveness and efficiency of the proposed method. The simulation results show that the proposed method has the capabilities to guarantee the collision avoidance of multi-ships while ensuring following their predefined paths. |
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| Publication Date | 2019-05-16 |
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박정호, 노명일, 이혜원, 조영민, 손남선, "영상 기반의 선박 추적을 위한 개선된 방법", 2022년도 대한조선학회 춘계학술발표회, 제주, p.311, 2022.06.02-04
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이혜원, 노명일, 박정호, "선박 추적을 위한 센서 데이터 연관 방법", 2022년도 대한조선학회 춘계학술발표회, 제주, pp. 309, 2022.06.02-04
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여인창, 노명일, 전도현, 장석호, 허재원, "안전성과 경제성을 고려한 배관 지지대 설계", 2022년도 대한조선학회 춘계학술발표회, 제주, p. 403, 2022.06.02-04
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공민철, 노명일, 김기수, 김종오, 박호균, 김주성, "PDF 문서 내 변수 인식 및 가시화 프로그램 개발", 2022년도 대한조선학회 춘계학술발표회, 제주, p. 198, 2022.06.02-04
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In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, "An Optimization Method of the Surround-View Camera System for Automatic Berthing of Ships", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10
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Min-Chul Kong, Myung-Il Roh, Jisang Ha, Jeong-Ho Park, EunSeok Jin, Donghun Yu, "Integrated Navigation Assistance System Using Augmented Reality", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10
