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Naifeng Wen, Yundong Long, Rubo Zhang, Guanqun Liu, Wenjie Wan and Dian Jiao
This research introduces a two-stage deep reinforcement learning approach for the cooperative path planning of unmanned surface vehicles (USVs). The method is designed to address cooperative collision-avoidance path planning while adhering to the Interna...
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Yuyang Huang, Wei Li, Jun Ning and Zhihui Li
This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with collision avoidance performance. Firstly, a formation control protocol b...
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Fei Lai and Xiaoyu Wang
A pre-emptive braking control method is proposed to improve the stability of autonomous vehicles during emergency collision avoidance, aiming to imitate the realistic human driving experience. A linear model predictive control is used to derive the front...
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Jiagen Yu, Zhengjiang Liu and Xianku Zhang
The problem of ship collision avoidance path planning is one of the key problems in the ship motion control field. Aiming at the high computational time problem of path planning in multi-ship encounter situations and the impact of the target ship?s actio...
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Ting Sun, Cheng Liu, Shuang Xu, Qizhi Hu and Cheng Li
In crowded waters, the incidence of collision accidents of multiple vessels has increased significantly, most of which can be ascribed to human factors, particularly, human decision-making failures and inobservance with International Regulations for Prev...
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Jiabao Yu, Jiawei Chen, Ying Chen, Zhiguo Zhou and Junwei Duan
Although broad reinforcement learning (BRL) provides a more intelligent autonomous decision-making method for the collision avoidance problem of unmanned surface vehicles (USVs), the algorithm still has the problem of over-estimation and has difficulty c...
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Dugan Um, Prasad Nethala and Hocheol Shin
In this paper, a hierarchical reinforcement learning (HRL) architecture, namely a ?Hierarchical Deep Deterministic Policy Gradient (HDDPG)? has been proposed and studied. A HDDPG utilizes manager and worker formation similar to other HRL structures. Howe...
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Bing Wang, Yixiong He, Weixuan Hu, Junmin Mou, Liling Li, Ke Zhang and Liwen Huang
A great number of collision accidents can be attributed to incongruous collision-avoidance actions between the give-way vessel and the stand-on vessel in a crossing or overtaking situation. If the give-way vessel does not take appropriate collision-avoid...
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Siyu Guo, Xiuguo Zhang, Yiquan Du, Yisong Zheng and Zhiying Cao
Path planning is a key issue in the field of coastal ships, and it is also the core foundation of ship intelligent development. In order to better realize the ship path planning in the process of navigation, this paper proposes a coastal ship path planni...
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Jian Zhou, Chenxu Wang and Anmin Zhang
Unmanned Surface Vehicles (USVs) are intelligent machines that have been widely studied in recent years. The safety of USVs? activities is a priority issue in their applications; one effective method is to delimit an exclusive safety domain around the US...
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