Unmanned ship multi-target trajectory planning method and system based on inverse reinforcement learning

Abstract

The invention provides an unmanned ship multi-target trajectory planning method and system based on inverse reinforcement learning. The method comprises the steps of obtaining an optimal strategy poolthrough reinforcement learning, inputting the information of a final target state, obtaining an optimal path reaching a final target point, and controlling an unmanned ship to move forwards accordingto the optimal path; when an obstacle appears in front of the unmanned ship, obtaining a path capable of avoiding the obstacle by utilizing the inverse reinforcement learning and based on multiple target points, controlling the unmanned ship to arrive at a staged new target point, thereby realizing the emergency obstacle avoidance. The system comprises an initialization module, a strategy estimation module, a strategy optimization module and a multi-target point module. The beneficial effects of the present invention are that the global path planning can be realized, the trained strategy pooland multiple target points can be used to reduce the calculation time under the complex sea area condition, and the emergency dynamic obstacle avoidance is realized.

Description

technical field [0001] The invention relates to the field of unmanned ship path planning, in particular to a method and system for unmanned ship multi-objective trajectory planning based on inverse reinforcement learning. Background technique [0002] Human beings have never stopped exploring the earth. With the rise of artificial intelligence, various unmanned devices have been put into use, such as unmanned vehicles and drones. The use of these unmanned devices facilitates human exploration of more unknown areas. The ocean occupies 70% of the earth's surface area. How to explore the ocean and develop marine resources has become the focus of attention of all countries. Under the general environment of artificial intelligence, the research of unmanned ship is put on the agenda. [0003] Compared with the use of unmanned vehicles on land, the complex marine environment has brought many new challenges to the research of unmanned ships, such as submarine vortexes and underwate...

AI Technical Summary

Problems solved by technology

[0003] Compared with the use of unmanned vehicles on land, the complex marine environment has brought many new challenges to the research of unmanned ships, such as submarine eddies and underwater organisms. The movement of the manned ship creates difficulties

The path planning of unmanned ships is the key technology for the safe driving of unmanned ships. In some complex marine environments, traditional path planning algorithms are difficult to deal with these problems.

[0004] The Chinese patent applications with patent numbers CN201810229544, CN201811612058, and CN201910494894 involve the trajectory planning of unmanned ships, but in general, there are the following problems: First, the existing technology needs to know the obstacle information on the map in advance , there is no way to avoid the sudden appearance of dynamic obstacles; second, the existing technology sets a single target point, and once it encounters a large target point such as a submarine vortex or undercurrent, it cannot solve the next step planning problem; third, the existing The technology is mainly aimed at global path planning, and it is easy to fall into a local optimum and cannot cope with emergencies

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