当前位置: X-MOL 学术Knowl. Based Syst. › 论文详情
The autonomous navigation and obstacle avoidance for USVs with ANOA deep reinforcement learning method
Knowledge-Based Systems ( IF 5.101 ) Pub Date : 2020-03-21 , DOI: 10.1016/j.knosys.2019.105201
Xing Wu; Haolei Chen; Changgu Chen; Mingyu Zhong; Shaorong Xie; Yike Guo; Hamido Fujita

The unmanned surface vehicle (USV) has been widely used to accomplish missions in the sea or dangerous marine areas for ships with sailors, which greatly expands protective capability and detection range. When USVs perform various missions in sophisticated marine environment, autonomous navigation and obstacle avoidance will be necessary and essential. However, there are few effective navigation methods with real-time path planning and obstacle avoidance in dynamic environment. With tailored design of state and action spaces and a dueling deep Q-network, a deep reinforcement learning method ANOA (Autonomous Navigation and Obstacle Avoidance) is proposed for the autonomous navigation and obstacle avoidance of USVs. Experimental results demonstrate that ANOA outperforms deep Q-network (DQN) and Deep Sarsa in the efficiency of exploration and the speed of convergence not only in static environment but also in dynamic environment. Furthermore, the ANOA is integrated with the real control model of a USV moving in surge, sway and yaw and it achieves a higher success rate than Recast navigation method in dynamic environment.
更新日期:2020-03-22

 

全部期刊列表>>
智控未来
聚焦商业经济政治法律
跟Nature、Science文章学绘图
控制与机器人
招募海内外科研人才,上自然官网
隐藏1h前已浏览文章
课题组网站
新版X-MOL期刊搜索和高级搜索功能介绍
ACS材料视界
x-mol收录
湖南大学化学化工学院刘松
上海有机所
李旸
南方科技大学
西湖大学
伊利诺伊大学香槟分校
徐明华
中山大学化学工程与技术学院
试剂库存
天合科研
down
wechat
bug