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
International Conference
2021.12.17 14:33
Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, "Deep Reinforcement Learning-Based Ship Collision Avoidance Considering Collision Risk", Proceedings of TEAM 2022, Istanbul, Turkey, pp. 268, 2021.12.06-07
조회 수 208
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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. |
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| Publication Date | 2021-12-07 |
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Ki-Su Kim, Myung-Il Roh, Sung-Min Lee, "Toward a Robust Optimization Method for Ship Route Planning Considering Cost and Safety Aspect", Proceedings of ACDDE 2017, Zhangjiajie, China
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Ki-Su Kim, Myung-Il Roh, Sung-Min Lee, "A Simultaneous Optimization Method of the Direction and Speed for Ship Route Planning", Proceedings of Smart Ship Technology 2017, London, England, 2017.01.24-25
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Ki-Su Kim, Myung-Il Roh, Sung-Kyoon Kim, "An Arrangement Design Framework for Ships and Offshore Plants Based on Expert System and Optimization Technique", Proceedings of OMAE 2016, Busan, Korea, pp. 1-5, 2016.06.19-24
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Ki-Su Kim, Myung-Il Roh, Seung-Min Lee, "Flooding Analysis Based on PBD (Position Based Dynamics) for Ships and Offshore Structures", Proceedings of ISOPE 2018, Sapporo, Japan, pp. 955-957, 2018.06.10-15
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Ki-Su Kim, Myung-Il Roh, Seung-Ho Ham, Sol Ha, "Evacuation Analysis of Passenger Ships Considering Intermediate Flooding", Proceedings of International Symposium on PRADS 2022, Dubrovnik, Croatia, pp. 628-632, 2022.10.09-13
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Ki-Su Kim, Myung-Il Roh, Seung-Ho Ham, "Ship Route Planning Considering the Effects of Sea State and the Fuel Consumption", Proceedings of PRADS 2016, Copenhagen, Denmark, 2016.09.04-09.08
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Ki-Su Kim, Myung-Il Roh, Ju-Sung Kim, "A Method of Dynamic Flooding Analysis in Time Domain for the Compartment Arrangement Design of a Ship", Proceedings of ISOPE 2017, San Francisco, USA, pp. 862-866, 2017.06.25-30
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Ki-Su Kim, Myung-Il Roh, "Optimization of the Arrangement Design of a Ship Considering the Multiple Performance", Proceedings of ACSMO 2020, Seoul, Korea, pp. 167, 2020.11.23-25
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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
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Ki-Su Kim, Jung-Woo Hong, Sol Ha, Seung-Ho Ham, Nam-Kug Ku, Myung-Il Roh, "A Method for Optimal Arrangement Design Based on Expert System and Its Application to Submarine Design", Proceedings of IMDC 2015, Tokyo, Japan, 2015.5.11-14
