Skip to content
Extra Form
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
40 International Conference Min-Jae Oh, Myung-Il Roh, Sung-Woo Park, Do-Hyun Chun, Jeong-Youl Lee, Myeong-Jo Son, "Operational Analysis of Container Ships Using AIS Data", Proceedings of ACDDE 2018, Okinawa, Japan, 2018.11.1-3 file 2018-11-01
39 International Conference Do-Hyun Chun, Myung-Il Roh, Seung-Ho Ham, Hoon-Kyu Oh, Sang-Ok Lee, "Optimum Layout Design of Wedges of Panel for an LNG Tank Considering Amount of Resin Ropes", Proeedings of ISOPE 2019, Honolulu, Hawaii, pp. 1289-1292, 2019.06.16-21 file 2019-06-19
38 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
37 International Conference Jong-Hyeok Lee, Myung-Il Roh, Jin-Hyeok Kim, Sung-Jun Lee, Seung-Ho Ham, "Development of a Ship Navigation Simulator Based on Digital Twin Technology", Proceedings of ACDDE 2019, Penang, Malaysia, pp. 245, 2019.07.07-10 file 2019-07-08
36 International Conference Min-Jae Oh, Myung-Il Roh, Young-Soo Seok, and Sung-Jun Lee, "Optimization of a Ship Hull Form using Deep Learning", Proceedings of ACDDE 2019, Penang, Malaysia, 2019.07.07-10 file 2019-07-08
35 International Conference Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "A Crane Movement Control for Stability of Block Erection Based on Deep Reinforcement Learning", MIM 2019, Berlin, Germany, 2019.08.28-30 file 2019-08-28
34 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
33 International Conference Ki-Su Kim, Myung-Il Roh, "Optimal Arrangement Method of a Ship Considering the Performance against Flooding", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26 file 2019-09-22
32 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Do-Hyun Chun, "Controller Design of a Gantry Crane for the Safe Erection of Blocks in Shipyards", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26 file 2019-09-22
» International Conference 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 2019, Rotterdam, Netherlands, pp. 85-88, 2019.09.24-26 file 2019-09-24
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