融合动态窗口法和DDPG的无人船避碰方法  

USV collision avoidance method combining DWA and DDPG algorithm

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作  者:韩志强 李立刚[1,3] 贺则昊 宗律 戴永寿 Han Zhiqiang;Li Ligang;He Zehao;Zong Lyu;Dai Yongshou(College of Oceanography and Space Informatics,Chinese University of Petroleum(East China),Qingdao 266580,China;College of Control Science and Engineering,Chinese University of Petroleum(East China),Qingdao 266580,China;Technology Innovation Center for Maritime Silk Road Marine Resources and Environment Networked Observation,Qingdao 266580,China)

机构地区:[1]中国石油大学(华东)海洋与空间信息学院,青岛266580 [2]中国石油大学(华东)控制科学与工程学院,青岛266580 [3]自然资源部海上丝路海洋资源环境组网观测技术创新中心,青岛266580

出  处:《电子测量技术》2024年第14期80-87,共8页Electronic Measurement Technology

基  金:中国石油大学(华东)自主创新科研计划项目(22CX01004A)资助。

摘  要:针对复杂环境中障碍物运动状态多变导致无人船避碰难以兼顾安全性、经济性和平滑性的问题,提出了一种融合动态窗口法和DDPG的无人船避碰方法。首先,在传统碰撞危险度模型中增加最近会遇距离和最近会遇点舷角作为评价因素,使无人船的碰撞危险度评价更为合理;其次,设计了基于动态窗口法的局部引导方法,将动态窗口法搜索的无人船可达位置作为局部引导点,增加了引导奖励来增大靠近引导点的动作奖励,使DDPG算法在训练中获得更准确的更新方向;最后,开展了在多种障碍物环境中的无人船避碰测试,实验结果显示,相较于传统DDPG算法,本文方法规划的路径更合理、平滑、风险更低,同时收敛速度提高了约37.5%,验证了所提方法的有效性。To address the challenge of ensuring safety,efficiency,and smoothness in collision avoidance decisions for unmanned surface vessel in complex environments with dynamically changing obstacles,we propose a collision avoidance method that combines the dynamic window approach and DDPG algorithm.Firstly,in the traditional collision risk model,the distance to closest point of approach and the bearing angle at the closest point of encounter are added as evaluation factors to make the risk evaluation of the unmanned surface vessel more reasonable.Next,we design a local guidance method based on dynamic window approach,the reachable position of unmanned surface vessel by dynamic window approach is used as the local guide point,and the guide reward is added to increase the action reward near the guide point,so that DDPG algorithm can obtain more accurate updating direction in training.Finally,the method is tested in various obstacle environments.Experimental results show that compared to the traditional DDPG algorithm,the proposed method generates more reasonable,smoother and less risky paths.Additionally,it improves convergence speed by approximately 37.5%,verifying the effectiveness of the proposed method.

关 键 词:无人船 碰撞危险度 最近会遇点舷角 局部引导方法 DDPG 

分 类 号:U664.82[交通运输工程—船舶及航道工程] TN966[交通运输工程—船舶与海洋工程]

 

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