Unmanned ship path tracking method based on reinforcement learning
The invention provides an unmanned ship path tracking method based on reinforcement learning. The method comprises the following steps: setting a tracking path of an unmanned ship; establishing an MDP model for the tracking path of the unmanned ship and an obstacle avoidance process, and setting a r...
Saved in:
Main Authors | , , , , , , |
---|---|
Format | Patent |
Language | Chinese English |
Published |
11.06.2021
|
Subjects | |
Online Access | Get full text |
Cover
Loading…
Abstract | The invention provides an unmanned ship path tracking method based on reinforcement learning. The method comprises the following steps: setting a tracking path of an unmanned ship; establishing an MDP model for the tracking path of the unmanned ship and an obstacle avoidance process, and setting a reward function; performing reinforcement learning on a state information model by adopting a PPO algorithm to obtain control strategy parameters of the unmanned ship; enabling the unmanned ship to execute a path tracking task according to the control strategy parameters. According to the unmanned ship path tracking method based on reinforcement learning, the PPO algorithm is adopted in the strategy training process to improve the convergence of action strategy parameters, human intervention is not needed in the algorithm iteration process, and due to the fact that an agent actively interacts with the environment, various interference factors in the environment can be learned by the agent, the design process of the |
---|---|
AbstractList | The invention provides an unmanned ship path tracking method based on reinforcement learning. The method comprises the following steps: setting a tracking path of an unmanned ship; establishing an MDP model for the tracking path of the unmanned ship and an obstacle avoidance process, and setting a reward function; performing reinforcement learning on a state information model by adopting a PPO algorithm to obtain control strategy parameters of the unmanned ship; enabling the unmanned ship to execute a path tracking task according to the control strategy parameters. According to the unmanned ship path tracking method based on reinforcement learning, the PPO algorithm is adopted in the strategy training process to improve the convergence of action strategy parameters, human intervention is not needed in the algorithm iteration process, and due to the fact that an agent actively interacts with the environment, various interference factors in the environment can be learned by the agent, the design process of the |
Author | ZHANG WEIDONG DONG BOTAO HUANG MENGXING ZHANG YONGHUI WU DI XU XINLI SUN ZHIJIAN |
Author_xml | – fullname: DONG BOTAO – fullname: WU DI – fullname: SUN ZHIJIAN – fullname: XU XINLI – fullname: ZHANG WEIDONG – fullname: ZHANG YONGHUI – fullname: HUANG MENGXING |
BookMark | eNqNyjsOwjAQRVEXUPDbw7AACpNIiDJEICoqqKPBecFW4rFle_8iBQugusU9a7WQIFipy0s8i6CnbF2kyMVSSWxGJx_yKDb09OY8_yCU4GQIycBDCk3gJDPbquXAU8bu143a367P9n5ADB1yZANB6dqH1sdzfaor3VT_mC9hJjPv |
ContentType | Patent |
DBID | EVB |
DatabaseName | esp@cenet |
DatabaseTitleList | |
Database_xml | – sequence: 1 dbid: EVB name: esp@cenet url: http://worldwide.espacenet.com/singleLineSearch?locale=en_EP sourceTypes: Open Access Repository |
DeliveryMethod | fulltext_linktorsrc |
Discipline | Medicine Chemistry Sciences Physics |
DocumentTitleAlternate | 一种基于强化学习的无人船路径跟踪方法 |
ExternalDocumentID | CN112947431A |
GroupedDBID | EVB |
ID | FETCH-epo_espacenet_CN112947431A3 |
IEDL.DBID | EVB |
IngestDate | Fri Jul 19 14:31:44 EDT 2024 |
IsOpenAccess | true |
IsPeerReviewed | false |
IsScholarly | false |
Language | Chinese English |
LinkModel | DirectLink |
MergedId | FETCHMERGED-epo_espacenet_CN112947431A3 |
Notes | Application Number: CN202110149076 |
OpenAccessLink | https://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20210611&DB=EPODOC&CC=CN&NR=112947431A |
ParticipantIDs | epo_espacenet_CN112947431A |
PublicationCentury | 2000 |
PublicationDate | 20210611 |
PublicationDateYYYYMMDD | 2021-06-11 |
PublicationDate_xml | – month: 06 year: 2021 text: 20210611 day: 11 |
PublicationDecade | 2020 |
PublicationYear | 2021 |
RelatedCompanies | HAIZHIYUN (SUZHOU) TECHNOLOGY CO., LTD |
RelatedCompanies_xml | – name: HAIZHIYUN (SUZHOU) TECHNOLOGY CO., LTD |
Score | 3.4652042 |
Snippet | The invention provides an unmanned ship path tracking method based on reinforcement learning. The method comprises the following steps: setting a tracking path... |
SourceID | epo |
SourceType | Open Access Repository |
SubjectTerms | CONTROLLING PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES |
Title | Unmanned ship path tracking method based on reinforcement learning |
URI | https://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20210611&DB=EPODOC&locale=&CC=CN&NR=112947431A |
hasFullText | 1 |
inHoldings | 1 |
isFullTextHit | |
isPrint | |
link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwfV3dS8MwED_m_HzTquj8IIL0rditbaYPRWzaMgS7IZvsbbRpOhVsR1sR_OvNxc75om8hgZAcXO4jv_sdwKVpCyuzrdRIMioMO7Vi4zqJHSN10r7DqZlxodAWER1M7PupM23B67IWRvGEfihyRKlRXOp7rd7rxSqJ5StsZXWVvMip4jYcu77eRMc9DHC6uu-5wWjoD5nOmMsiPXp00a2w0VrercE6utHIsx88eViVsvhtUsJd2BjJ3fJ6D1qfzxpss2XnNQ22HpoPbw02FUKTV3Ky0cJqH7xJ_hbj-0gQakWwqTCpy5hj1pt8t4QmaJ1SUuSkFIoblas0IGmaRMwP4CIMxmxgyGPNfmQwY9HqBtYhtPMiF0dAHJOLrEfjPnK-yMENt1IZgTnST5CeGaXH0Pl7n85_iyewg_JEVFS3ewrtunwXZ9L-1sm5EtwXcf6Jwg |
link.rule.ids | 230,309,786,891,25594,76906 |
linkProvider | European Patent Office |
linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwfV1bS8MwFD7MeZlvOhWdtwjSt2K7XqYPRWy6MnXrhmyyt9GmqRewHW1F8NebEzvni76FBEJy4ORc8p3vAJxrJjcS04jVKLG5asZGqF5GoaXGVtyxmK0ljEu0RWD3Jubd1JrW4HVRCyN5Qj8kOaLQKCb0vZTv9XyZxPIktrK4iF7EVHbtjx1PqaLjNgY4uuK5Tnc09IZUodShgRI8OOhWmGgtb1ZgtYPsvOg6PbpYlTL_bVL8LVgbid3Schtqn89NaNBF57UmbAyqD-8mrEuEJivEZKWFxQ64k_QtxPeRINSKYFNhUuYhw6w3-W4JTdA6xSRLSc4lNyqTaUBSNYl42oUzvzumPVUca_YjgxkNljcw9qCeZinfB2JpjCdtO-wg54sYXDEjFhGYJfwE4ZnZ9gG0_t6n9d_iKTR640F_1r8N7g9hE2WLCCldP4J6mb_zY2GLy-hECvELDGOMrw |
openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Apatent&rft.title=Unmanned+ship+path+tracking+method+based+on+reinforcement+learning&rft.inventor=DONG+BOTAO&rft.inventor=WU+DI&rft.inventor=SUN+ZHIJIAN&rft.inventor=XU+XINLI&rft.inventor=ZHANG+WEIDONG&rft.inventor=ZHANG+YONGHUI&rft.inventor=HUANG+MENGXING&rft.date=2021-06-11&rft.externalDBID=A&rft.externalDocID=CN112947431A |