复杂海洋环境中基于改进DDPG算法的船舶智能路径规划

Ship path planning based on improved DDPG algorithm in complex marine environment

  • 摘要: 【目的】为提升船舶复杂海洋环境路径规划与避障能力,提高船舶航行的经济性与安全性,提出基于改进DDPG算法的新方法。【方法】创新引入路径重要性评分优先经验回放、注意力机制及对抗架构,优化算法各环节(经验利用、特征感知、价值评估)提升性能。【结果】在东海、印度洋等海域仿真,相比DDPG与A*算法,改进算法在路径长度、拐点数量及碰撞次数上显著优化。如在东海海域,相较于DDPG算法,改进算法在路径长度上减少了0.75%,在拐点数量上减少了26.92%,在碰撞次数上减少了15.80%;相较于A*算法,改进算法在路径长度上减少了4.59%,在拐点数量上减少了42.42%。【结论】改进算法在不同复杂度的海洋环境下,均表现出了优于DDPG算法和传统A*算法的性能,证明改进算法优势显著、普适性强,能够为船舶航行的智能化决策提供参考。

     

    Abstract: Objectives In order to improve the ability of ship path planning and obstacle avoidance in complex Marine environment, and improve the economy and safety of ship navigation, a new method based on improved DDPG algorithm is proposed. Methods The priority experience replay mechanism based on path importance score is introduced to enhance the utilization efficiency of important experience in the learning process. The self-attention mechanism is integrated into the actor-critic network, and the network design is optimized by using the idea of Dueling deep Q network to improve the network's ability to perceive environmental characteristics and enhance the estimation accuracy of value function. Results In the simulation of the East China Sea and the Indian Ocean, compared with DDPG and A* algorithm, the improved algorithm significantly optimizes the path length, the number of inflection points and the number of collisions. For example, in the East China Sea, compared with DDPG algorithm, the improved algorithm reduces the path length by 0.75%, the number of inflection points by 26.92%, and the number of collisions by 15.80%. Compared with the A* algorithm, the improved algorithm reduces the path length by 4.59% and the number of inflection points by 42.42%. Conclusions The improved algorithm is superior to DDPG algorithm and traditional A* algorithm in different complexity Marine environments, which strongly confirms that the improved algorithm has significant advantages and strong universality, and can provide a reference for intelligent decision-making of ship navigation. Key words:Ships;route planning;Obstacle avoidance;A* algorithm;DDPG algorithm

     

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