Unmanned ship collision avoidance decision-making method and system fusing captain experience
The invention provides an unmanned ship collision avoidance decision-making method and system fused with captain experience, and the method comprises the steps: carrying out the statistics of the quantitative understanding of the captain for driving ships with different lengths on COLREGs, obtaining...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention provides an unmanned ship collision avoidance decision-making method and system fused with captain experience, and the method comprises the steps: carrying out the statistics of the quantitative understanding of the captain for driving ships with different lengths on COLREGs, obtaining the captain experience, and improving the reward function and action space of a near-end strategy optimization algorithm through the captain experience. According to the method, a new reward function based on the experience of the captain is developed, so that the method can adapt to various meeting scenes, and the problem that COLREGs are not fully considered is solved. According to the scheme provided by the invention, the intelligent collision avoidance decision-making capability of the unmanned ship can be improved, and the requirement of COLREGs can be fully met.
本发明提出一种融合船长经验的无人船避碰决策方法及系统,通过统计驾驶不同长度船舶的船长对于COLREGs的定量理解,获取船长经验,利用船长经验改进近端策略优化算法的奖励函数和行动空间。本发明通过开发一种新的基于船长经验的奖励函数,可以适应多种会遇场景并解决COLREGs考虑不充分的问题。无人船在本 |
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