LU502871B1 - Proximal Policy Optimization Algorithm-Based Dynamic Obstacle Avoidance Method for AUVs - Google Patents

Proximal Policy Optimization Algorithm-Based Dynamic Obstacle Avoidance Method for AUVs

Info

Publication number
LU502871B1
LU502871B1 LU502871A LU502871A LU502871B1 LU 502871 B1 LU502871 B1 LU 502871B1 LU 502871 A LU502871 A LU 502871A LU 502871 A LU502871 A LU 502871A LU 502871 B1 LU502871 B1 LU 502871B1
Authority
LU
Luxembourg
Prior art keywords
obstacle avoidance
optimization algorithm
policy optimization
algorithm
dynamic obstacle
Prior art date
Application number
LU502871A
Other languages
English (en)
Inventor
Zhou Shen
Ziming Xia
Song Yu
Zixia Ju
Jiazhen Hu
Jialong Sun
Sicong Zhao
Fangzheng Ji
Guohao Zhu
Original Assignee
Lianyungang Lantu Intelligent Tech Co Ltd
Univ Jiangsu Ocean
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lianyungang Lantu Intelligent Tech Co Ltd, Univ Jiangsu Ocean filed Critical Lianyungang Lantu Intelligent Tech Co Ltd
Application granted granted Critical
Publication of LU502871B1 publication Critical patent/LU502871B1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
LU502871A 2022-07-25 2022-10-05 Proximal Policy Optimization Algorithm-Based Dynamic Obstacle Avoidance Method for AUVs LU502871B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210876511.4A CN115291616B (zh) 2022-07-25 2022-07-25 一种基于近端策略优化算法的auv动态避障方法

Publications (1)

Publication Number Publication Date
LU502871B1 true LU502871B1 (en) 2023-04-05

Family

ID=83825106

Family Applications (1)

Application Number Title Priority Date Filing Date
LU502871A LU502871B1 (en) 2022-07-25 2022-10-05 Proximal Policy Optimization Algorithm-Based Dynamic Obstacle Avoidance Method for AUVs

Country Status (2)

Country Link
CN (1) CN115291616B (zh)
LU (1) LU502871B1 (zh)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109407682B (zh) * 2018-09-29 2021-06-15 大连海洋大学 基于图像特征深度强化学习的auv管道循管方法
CN109784201B (zh) * 2018-12-24 2023-07-28 中国海洋大学 基于四维风险评估的auv动态避障方法
CN110333739B (zh) * 2019-08-21 2020-07-31 哈尔滨工程大学 一种基于强化学习的auv行为规划及动作控制方法
CN112633474B (zh) * 2020-12-20 2022-04-05 东南大学 一种重型营运车辆的后向防撞驾驶决策方法
CN112947431B (zh) * 2021-02-03 2023-06-06 海之韵(苏州)科技有限公司 一种基于强化学习的无人船路径跟踪方法
CN113176776B (zh) * 2021-03-03 2022-08-19 上海大学 基于深度强化学习的无人艇天气自适应避障方法
CN114237235B (zh) * 2021-12-02 2024-01-19 之江实验室 一种基于深度强化学习的移动机器人避障方法

Also Published As

Publication number Publication date
CN115291616A (zh) 2022-11-04
CN115291616B (zh) 2023-05-26

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FG Patent granted

Effective date: 20230405