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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
436 International Conference Kyu-Yeul Lee, Myung-Il Roh, Sang-Uk Lee, Joong-Hyun Rhim, Seong-Chan Kang, Jong-Hyun Kim, Jeong-Youl Lee, "Development of a Hull Structural CAD System for an Initial Design Stage", Proceedings of PRADS 2004, Germany, pp. 98-105, 2004.09.12-17 file 2004-09-12
435 International Conference Kyu-Yeul Lee, Sang-Uk Lee, Doo-Yeoun Cho, Myung-Il Roh, Seong-Chan Kang, Jung-Woo Seo, "An Innovative Compartment Modeling and Ship Calculation System", Proceedings of IMDC(International Marine Design Conference) 2003, Athens, Greece, 2003.05.05-08 file 2003-05-07
434 International Conference Kyu-Yeul Lee, Seon-Ho Cho, Myung-Il Roh, "An Efficient Global-Local Hybrid Optimization Method Using Design Sensitivity Analysis", Proceedings of OptiCon 2000, Newport Beach, USA, pp. 1-13, 2000.10.26-27 file 2000-10-26
433 International Conference Luman Zhao, Myung-Il Roh, Hye-Won Lee, "Control Design for an Unmanned Surface Vessel Based on Hardware-In-the-Loop Simulation", Proceedings of SUTTC(The Society for Underwater Technology Technical Conference) 2017, Haikou, China, 2017.11.23-24 file 2017-11-23
» 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
431 International Conference Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Anti-sway Control of the Crane on an Offshore Support Vessel Based on the Hardware-In-the-Loop Simulation", Proceedings of ISOPE 2017, San Francisco, USA, pp. 651-654, 2017.06.25-30 file 2017-06-26
430 International Conference Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Hardware-In-the-Loop Simulation for a Heave Compensator of an Offshore Support Vessel", Proceedings of OMAE 2016, Busan, Korea, pp. 1-5, 2016.06.19-24 file 2016-06-20
429 International Conference Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Hardware-In-the-Loop Simulation for the Design and Testing of an Active Compensation System on an Offshore Supply Vessel", Proceedings of SUTTC 2016, Beijing, China, 2016.09.26-30 file 2016-09-29
428 Conference Chairman Mechanics & Collision I, ISOPE(International Society of Offshore and Polar Engineers) 2017, San Francisco, USA, 2017.06.25-30 2017-06-26
427 International Conference Min-Chul Kong, Myung-Il Roh, In-Chang Yeo, In-Su Han, Dongki Min, Dongguen Jeong, "Methods for Graph Conversion and Pattern Recognition for P&IDs", Proceedings of IMDC 2024, Amsterdam, Netherland, 2024.06.02-06 2024-06-02
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