The invention discloses an unmanned ship collision avoidance model construction method and device and an unmanned ship collision avoidance method and device, and relates to the technical field of unmanned ship autonomous collision avoidance. In order to solve the technical problems of subjectivity and calculation complexity of fuzzy rule setting, long training time, high calculation complexity, inaccurate model and unstable training of an unmanned ship collision avoidance algorithm in the prior art, the invention provides a construction method of an unmanned ship collision avoidance model. The method comprises the following steps: collecting preset observation information and motion state parameters of a target ship and an unmanned ship; according to the observation information and the motion state parameters, the meeting condition between the target ship and the unmanned ship is obtained; matching a risk degree for each target ship according to the meeting condition; integrating the state vectors; constructing a reinforcement learning network by taking the integrated state vector as input and taking unmanned ship collision-free and target point arrival as targets; and training the navigation decision of the unmanned ship. The method is suitable for autonomous collision avoidance control work of the unmanned ship.
无人船避碰模型构建方法及装置、无人船避碰方法及装置,涉及无人船自主避碰技术领域。为解决现有技术中存在的,无人船避碰算法存在模糊规则设定的主观性和计算复杂性,以及存在训练时间长、计算复杂度高以及模型不准确和训练不稳定的技术问题,本发明提供的技术方案为:无人船避碰模型构建方法,方法包括:采集目标船舶和无人船的预设观测信息及运动状态参数;根据观测信息及运动状态参数,得到目标船舶与无人船之间会遇情况;根据会遇情况,为每个目标船舶匹配危险度;整合状态向量;以整合状态向量作为输入、无人船无碰撞和到达目标点作为目标,构建强化学习网络;训练无人船航行决策。适合应用于无人船的自主避碰控制工作中。
Unmanned ship collision avoidance model construction method and device and unmanned ship collision avoidance method and device
无人船避碰模型构建方法及装置、无人船避碰方法及装置
2024-02-06
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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