Multi-USV Formation Collision Avoidance via Deep Reinforcement Learning and COLREGs  

作　　者：Cheng-Cheng Wang Yu-Long Wang Li Jia 

机构地区：[1]the Shanghai Key Laboratory of Power Station Automation Technology,and also with the School of Mechatronic Engineering and Automation,Shanghai University [2]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第11期2349-2351,共3页自动化学报（英文版）

基　　金：supported in part by the National Science Foundation of China (52371372, 61833011);the Project of Science and Technology Commission of Shanghai Municipality, China (20ZR1420200, 21SQBS01600, 22JC1401400, 211907 80300);the 111 Project, China (D18003)。

摘　　要：Dear Editor,This letter focuses on the collision avoidance for a multi-unmanned surface vehicle(multi-USV)system.A novel multi-USV collision avoidance(MUCA)algorithm is proposed.Firstly,in order to get a more reasonable collision avoidance policy,reward functions are constructed according to international regulations for preventing collisions at sea(COLREGS)and USV dynamics.

关 键 词：dynamics COLLISION LETTER 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] U463.6[自动化与计算机技术—控制科学与工程]