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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
56 International Conference Ju-Sung Kim, Myung-Il Roh, Seung-Ho Ham, Ki-Su Kim, "Dynamic Method for Flooding Simulation of a Damaged Floater Considering Ocean Environmental Loads", Proceedings of the 30th Asian-Pacific TEAM 2016, Mokpo, Korea, 2016.10.10-13 file 2016-10-12
55 International Conference Ju-Hwan Cha, Seung-Ho Ham, Kyu-Yeul Lee, Myung-Il Roh, Kwang-Pil Park, Heung-Won Suh, "Discrete Event/Discrete Time Simulation of Block Erection by a Floating Crane based on Multibody System Dynamics", Proceedings of ISOPE 2009, Osaka, Japan file 2009-06-21
54 International Conference Ju-Hwan Cha, Myung-Il Roh, Seung-Ho Ham, Kyu-Yeul Lee, Kwang Phil Park, Heung Won Suh, "Development of an Integrated Simulation Framework and Its Application to Shipbuilding Process Planning", Proceedings of ICCAS(International Conference on Computer Applications in Shipbuilding) 2007, Portsmouth, UK, pp. 283-290, 2007-09.18-20 file 2007-09-18
53 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
52 International Conference John-Kyu Hwang, Myung-Il Roh, Ju-Hwan Cha, "Design Modification of a Damaged Free-Fall Lifeboat for FPSO through the Free-Fall Test", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2014, Busan, Korea, 2014.06.15-20 file 2014-06-17
51 International Conference John-Kyu Hwang, Myung-Il Roh, Ji-Hyun Hwang and Ju-Hwan Cha, Kyu-Yeul Lee, "Overview on Detailed Design and Construction of 2,000,000BBLS FPSO", Proceedings of Design & Construction of FPU(Floating Production Units) 2007, Suntec, Singapore, pp. 1-6, 2007.04.03 file 2007-04-03
50 International Conference John-Kyu Hwang, Geun-Jae Bang, Myung-Il Roh, Kyu-Yeul Lee, "Detailed Design and Construction of the Hull of an FPSO(Floating, Production, Storage, and Off-loading unit)", Proceedings of ISOPE 2009, Osaka, Japan, pp. 151-158, 2009.06.21-26 file 2009-06-21
49 International Conference Jisang Ha, Myung-Il Roh, Sung-Jun Lee, Ki-Su Kim, Seung-Min Lee, "Toward Rapid Flooding Analysis of a Ship Using Surrogate Model by Deep Learning", Proceedings of the 31st Asian-Pacific TEAM 2017, Osaka, Japan, pp. 397-400, 2017.09.25-28 file 2017-09-26
48 International Conference Jisang Ha, Myung-Il Roh, Sung-Jun Lee, Ki-Su Kim, Seung-Min Lee, "Toward Rapid Analysis Using Surrogate Model by Deep Learning and Application to Ship Flooding Analysis", Proceedings of ISCDE 2017, Ho Chi Minh, Vietnam, pp. 1-2, 2017.12.13-16 file 2017-12-15
47 International Conference Jisang Ha, Myung-Il Roh, Min-Chul Kong, Mijin Kim, Jeoungyoun Kim, Nam-Kug Ku, "An Automated Method for Pipe Routing in Ship Unit Modules", Proceedings of IMDC 2024, Amsterdam, Netherland, 2024.06.02-06 2024-06-02
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