Deep learning structure for collision avoidance planning of unmanned surface vessel

2020 ◽  
pp. 147509022097010
Author(s):  
Yun Li ◽  
Jian Zheng
Keyword(s):  
Deep Learning ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Deterministic Algorithm ◽  
Learning Ability ◽  
Uncertain Dynamics ◽  
Time Problem ◽  
On Line ◽  
Unmanned Surface Vessel ◽  
Surface Vessel

The uncertain dynamics and environmental impacts in collision avoidance planning are always the key issues of autonomous navigation for unmanned surface vessel, due to the strong interactive ability and learning ability of deep learning, the combination of CNN and LSTM provide relevance and memory characteristics, which can extract the potential influence features of collision avoidance and correlation of historical strategies, to gain the more general trend of collision avoidance. Meanwhile, to make sure the real-time problem, the heuristic planning based on improved Electromagnetism-like mechanism algorithm is utilized to seek the optimal strategy with the rolling iteration of CNN–LSTM structure, for obtaining a simple and effective on-line scheme of collision avoidance. The complete algorithm has been tested and validated under the different situation comparing with the deterministic algorithm, it is worth mentioning that the algorithm can potentially be developed to advance collision-free planning especially in multiple vessels situation.

scholarly journals Design and Implementation of Intelligent Inspection and Alarm Flight System for Epidemic Prevention

Drones ◽  
2021 ◽  
Vol 5 (3) ◽  
pp. 68
Author(s):  
Jiwei Fan ◽  
Xiaogang Yang ◽  
Ruitao Lu ◽  
Xueli Xie ◽  
Weipeng Li
Keyword(s):  
Deep Learning ◽  
Autonomous Navigation ◽  
Detection Method ◽  
Active Role ◽  
Absolute Error ◽  
Face Mask ◽  
Learning Technology ◽  
Flight System ◽  
Crowd Density ◽  
The Mean

Unmanned aerial vehicles (UAV) and related technologies have played an active role in the prevention and control of novel coronaviruses at home and abroad, especially in epidemic prevention, surveillance, and elimination. However, the existing UAVs have a single function, limited processing capacity, and poor interaction. To overcome these shortcomings, we designed an intelligent anti-epidemic patrol detection and warning flight system, which integrates UAV autonomous navigation, deep learning, intelligent voice, and other technologies. Based on the convolution neural network and deep learning technology, the system possesses a crowd density detection method and a face mask detection method, which can detect the position of dense crowds. Intelligent voice alarm technology was used to achieve an intelligent alarm system for abnormal situations, such as crowd-gathering areas and people without masks, and to carry out intelligent dissemination of epidemic prevention policies, which provides a powerful technical means for epidemic prevention and delaying their spread. To verify the superiority and feasibility of the system, high-precision online analysis was carried out for the crowd in the inspection area, and pedestrians’ faces were detected on the ground to identify whether they were wearing a mask. The experimental results show that the mean absolute error (MAE) of the crowd density detection was less than 8.4, and the mean average precision (mAP) of face mask detection was 61.42%. The system can provide convenient and accurate evaluation information for decision-makers and meets the requirements of real-time and accurate detection.

scholarly journals COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

2021 ◽  
Vol 9 (4) ◽  
pp. 405
Author(s):  
Raphael Zaccone
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Optimal Path ◽  
Open Water ◽  
Optimal Path Planning ◽  
Guidance And Control ◽  
Real Time Applications ◽  
And Control

While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.

scholarly journals Assessing autonomous ship navigation using bridge simulators enhanced by cycle-consistent adversarial networks

2021 ◽  
pp. 1748006X2110210
Author(s):  
Andreas Brandsæter ◽  
Ottar L Osen
Keyword(s):  
Artificial Intelligence ◽  
Deep Learning ◽  
Decision Support ◽  
Object Detection ◽  
Autonomous Navigation ◽  
Adversarial Networks ◽  
Maritime Navigation ◽  
Ship Navigation ◽  
Autonomous Ship ◽  
Ship Operation

The advent of artificial intelligence and deep learning has provided sophisticated functionality for sensor fusion and object detection and classification which have accelerated the development of highly automated and autonomous ships as well as decision support systems for maritime navigation. It is, however, challenging to assess how the implementation of these systems affects the safety of ship operation. We propose to utilize marine training simulators to conduct controlled, repeated experiments allowing us to compare and assess how functionality for autonomous navigation and decision support affects navigation performance and safety. However, although marine training simulators are realistic to human navigators, it cannot be assumed that the simulators are sufficiently realistic for testing the object detection and classification functionality, and hence this functionality cannot be directly implemented in the simulators. We propose to overcome this challenge by utilizing Cycle-Consistent Adversarial Networks (Cycle-GANs) to transform the simulator data before object detection and classification is performed. Once object detection and classification are completed, the result is transferred back to the simulator environment. Based on this result, decision support functionality with realistic accuracy and robustness can be presented and autonomous ships can make decisions and navigate in the simulator environment.

Collision Avoidance Based on Line-of-Sight Angle

2017 ◽  
Vol 89 (1-2) ◽  
pp. 139-153 ◽  
Author(s):  
Venanzio Cichella ◽  
Thiago Marinho ◽  
Dušan Stipanović ◽  
Naira Hovakimyan ◽  
Isaac Kaminer ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Line Of Sight ◽  
On Line

Autonomous Ship Navigation Under Deep Learning and the Challenges in COLREGs

2018 ◽  
Author(s):  
Lokukaluge P. Perera
Keyword(s):  
Decision Making ◽  
Deep Learning ◽  
Collision Avoidance ◽  
Situation Awareness ◽  
Type System ◽  
Performance Standards ◽  
Transportation Systems ◽  
Agent Based ◽  
Distributed Intelligence ◽  
System Intelligence

A general framework to support the navigation side of autonomous ships is discussed in this study. That consists of various maritime technologies to achieve the required level of ocean autonomy. Decision-making processes in autonomous vessels will play an important role under such ocean autonomy, therefore the same technologies should consist of adequate system intelligence. Each onboard application in autonomous vessels may require localized decision-making modules, therefore that will introduce a distributed intelligence type strategy. Hence, future ships will be agent-based systems with distributed intelligence throughout vessels. The main core of this agent should consist of deep learning type technology that has presented promising results in other transportation systems, i.e. self-driving cars. Deep learning can capture helmsman behavior, therefore that type system intelligence can be used to navigate autonomous vessels. Furthermore, an additional decision support layer should also be developed to facilitate deep learning type technology including situation awareness and collision avoidance. Ship collision avoidance is regulated by the Convention on the International Regulations for Preventing Collisions at Sea, 1972 (COLREGs) under open sea areas. Hence, a general overview of the COLREGs and its implementation challenges, i.e. regulatory failures and violations, under autonomous ships are also discussed with the possible solutions as the main contribution of this study. Furthermore, additional considerations, i.e. performance standards with the applicable limits of liability, terms, expectations and conditions, towards evaluating ship behavior as an agent-based system on collision avoidance situations are also illustrated in this study.

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