Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 5
1330-1334

Local path planning for unmanned surface vehicle based on spatial and temporal sensing-enhanced deep Q-network

Zhang Mu
Tang Jun
Yang Youbo
Chen Yu
Lei Yinjie
College of Electronics & Information Engineering, Sichuan University, Chengdu 610065, China
DOI: 10.19734/j.issn.1001-3695.2022.09.0466

Abstract

Local path planning for unmanned surface vehicle(USV) plays an important role in maritime rescue and marine transportation. Existing local path planning algorithms achieve good results in simple scenarios, but have poor performance when facing complex obstacles and sea current disturbances present in the environment. To this end, this paper proposed a reinforcement learning algorithm based on spatial and temporal sensing-enhanced deep Q-network. Firstly, it introduced a multiscale spatial attention module to capture the multiscale spatial information of distance sensors, which enhanced the perception capability of complex obstacle environments. Secondly, it used the LSTM-based current sensing module to extract the temporal sequence features of the current disturbance environment, which enhanced the perception capability of the current disturbance. In addition, by simulating the sensor and motion model of USV, it designed the reinforcement learning state space, action space and direction-guided reward function, it improved the navigation performance and convergence speed of the algorithm. Simulation experiments in complex scenarios show that the proposed algorithm improves both success rate and average arrival time metrics comparing to the original algorithm, and the algorithm shows strong adaptability to complex environment.

Foundation Support

国家重点研发计划资助项目(2021YFC3300305)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.09.0466
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 5
Section: Algorithm Research & Explore
Pages: 1330-1334
Serial Number: 1001-3695(2023)05-007-1330-05

Publish History

[2022-11-25] Accepted Paper
[2023-05-05] Printed Article

Cite This Article

张目, 唐俊, 杨友波, 等. 基于时空感知增强的深度Q网络无人水面艇局部路径规划 [J]. 计算机应用研究, 2023, 40 (5): 1330-1334. (Zhang Mu, Tang Jun, Yang Youbo, et al. Local path planning for unmanned surface vehicle based on spatial and temporal sensing-enhanced deep Q-network [J]. Application Research of Computers, 2023, 40 (5): 1330-1334. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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