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Abstract Developing a high-level autonomous collision avoidance system for ships that can operate in an unstructured and unpredictable environment is challenging. Particularly in congested sea areas, each ship should make decisions continuously to avoid collisions with other ships in a busy and complex waterway. Furthermore, recent reports indicate that a large number of marine collision accidents are caused by or are related to human decision failures concerning a lack of situational awareness and failure to comply with the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). In this study, we propose an efficient method to overcome multiship collision avoidance problems based on the Deep Reinforcement Learning (DRL) algorithm by expanding our previous study (Zhao et al., 2019). The proposed method directly maps the states of encountered ships to an ownship's steering commands in terms of rudder angle using the Deep Neural Network (DNN). This DNN is trained over multiple ships in rich encountering situations using the policy-gradient based DRL algorithm. To address multiple encountered ships, we classify them into four regions based on COLREGs, and consider only the nearest ship in each region. We validate the proposed collision avoidance method in a variety of simulated scenarios with thorough performance evaluations, and demonstrate that the final DRL controller can obtain time efficient and collision-free paths for multiple ships. Simulation results indicate that multiple ships can avoid collisions with each other while following their own predefined paths simultaneously. In addition, the proposed approach demonstrates its excellent adaptability to unknown complex environments with various encountered ships.
Publication Date 2019-11-01
Role Corresponding Author
Category SCI
Impact Factor 1.894

List of Articles
번호 분류 제목 Publication Date
41 Domestic Journal 노명일, 유성진, 이규열, "선체 구조 모델의 위상 정보 재구성을 통한 구조 해석 모델 생성", 대한조선학회 논문집, Vol. 43, No. 2, pp. 246-257, 2006.04.01 file 2006-04-01
40 Domestic Journal 노명일, 이규열, "선체 블록의 물량 정보 생성 및 블록 탑재 시뮬레이션에 관한 연구", 한국CAD/CAM학회 논문집, Vol. 11, No. 2, pp. 115-127, 2006.04.01 file 2006-04-01
39 Domestic Journal 노명일, 이규열, "초기 선체 구조 모델을 기반으로 한 선체 블록의 물량 정보 생성 및 블록 탑재 시뮬레이션", 대한조선학회 논문집, Vol. 43, No. 1, pp. 103-118, 2006.02.01 file 2006-02-01
38 Domestic Journal 노명일, 이규열, "객체 지향 초기 선체 구조 설계 시스템 개발", 한국CAD/CAM학회 논문집, Vol. 10, No. 4, pp. 244-253, 2005.08.01 file 2005-08-01
37 Domestic Journal 이원준, 이규열, 노명일, 권오환, "의미론적 제품 데이터 모델 기반 초기 선체 구조 CAD 시스템 개발", 한국CAD/CAM학회 논문집, Vol. 7, No. 3, pp. 157-169, 2002.09.01 file 2002-09-01
36 Domestic Journal 한성남, 이규열, 노명일, "개선된 유전자 알고리즘을 이용한 최적 공간 배치 설계에 관한 연구", 한국CAD/CAM학회 논문집, Vol. 6, No. 3, pp. 174-183, 2001.09.01 file 2001-09-01
35 Domestic Journal 노명일, 이규열, "협동 최적화 접근 방법에 의한 다분야 최적 설계에 관한 연구", 한국CAD/CAM학회 논문집, Vol. 5, No. 3, pp.263-275, 2000.09.01 file 2000-09-01
34 International Journal Myung-Il Roh, Kyu-Yeul Lee, "Optimal Scheduling of Block Lifting in Consideration of the Minimization of Traveling Distance While Unloaded and Wire and Shackle Replacement of a Gantry Crane", Journal of Marine Science and Technology, Vol. 15, No. 2, pp. 190-200, 2010.06.01 file 2010-06-01
33 International Journal Nam-Kug Ku, Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "A Tagline Proportional-Derivative Control Method for the Anti-Swing Motion of a Heavy Load Suspended by a Floating Crane in Waves", Journal of Engineering for the Maritime Environment, Vol. 227, No. 4, pp. 357-366, 2013.11.01 file 2013-11-01
32 International Journal Myung-Il Roh, "Determination of an Economical Shipping Route Considering the Effects of Sea State for Lower Fuel Consumption", International Journal of Naval Architecture and Ocean Engineering, Vol. 5, No. 2, pp. 246-262, 2013.06.01 file 2013-06-01
31 International Journal Ji-Hyun Hwang, Nam-Kug Ku, Myung-Il Roh, Kyu-Yeul Lee, "Optimal Design of Liquefaction Cycles of Liquefied Natural Gas", Industrial & Engineering Chemistry Research, Vol. 52, No. 15, pp. 5341-5356, 2013.03.01 file 2013-03-01
30 International Journal Ji-Hyun Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Determination of the Optimal Operating Condition of the Dual Mixed Refrigerant Cycle for the LNG FPSO Topside Liquefaction Process", Computers and Chemical Engineering, Vol. 49, pp. 25-36, 2013.02.01 file 2013-02-01
29 International Journal Myung-Il Roh, "Block Layout Method in the Block Stockyard Based on the Genetic Algorithm", Ocean Systems Engineering, Vol. 2, No. 4, pp. 271-287, 2012.12.01 file 2012-12-01
28 International Journal Sol Ha, Nam-Kug Ku, Myung-Il Roh, Kyu-Yeul Lee, "Cell-Based Evacuation Simulation Considering Human Behavior in a Passenger Ship", Ocean Engineering, Vol. 53, pp. 138-152, 2012.10.01 file 2012-10-01
27 International Journal Sol Ha, Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Implementation of the Submarine Diving Simulation in a Distributed Environment", International Journal of Naval Architecture and Ocean Engineering, Vol. 4, No. 3, pp. 211-227, 2012.09.01 file 2012-09-01
26 International Journal Ji-Hyun Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Integrated Engineering Environment for the Process FEED of Offshore Oil and Gas Production Plants", Ocean Systems Engineering, Vol. 2, No. 1, pp. 49-68, 2012.03.01 file 2012-03-01
25 International Journal Myung-Il Roh, Ju-Hwan Cha, "A Block Transportation Scheduling System Considering a Minimization of Travel Distance without Loading of and Interference between Multiple Transporters", International Journal of Production Research, Vol. 49, No. 11, pp. 3231-3250, 2011.06.01 file 2011-06-01
24 International Journal Ju-Hwan Cha, Seung-Ho Ham, Kyu-Yeul Lee, Myung-Il Roh, "Application of a Topological Modelling Approach of Multi-body System Dynamics to Simulation of Multi-floating Cranes in Shipyards", Journal of Multi-body Dynamics, Vol. 224, No. 4, pp. 365-373, 2010.12.01 file 2010-12-01
23 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Dynamic Response Simulation of a Heavy Cargo Suspended by a Floating Crane Based on Multibody System Dynamics", Ocean Engineering, Vol. 37, No. 14-15, pp. 1273-1291, 2010.10.01 file 2010-10-01
22 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Integrated Simulation Framework for the Process Planning of Ships and Offshore Structures", Robotics and Computer-Integrated Manufacturing Journal, Vol, 26, No. 5, pp. 430-453, 2010.10.01 file 2010-10-01
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