Path planning method of unmanned ship based on PPO and DWA

Jiacheng Dai; Dayuan Chen; Shujie Yang

doi:10.1117/12.3006648

26 September 2023 Path planning method of unmanned ship based on PPO and DWA

Jiacheng Dai, Dayuan Chen, Shujie Yang

Proceedings Volume 12793, International Conference on Mechatronics and Intelligent Control (ICMIC 2023); 1279313 (2023) https://doi.org/10.1117/12.3006648
Event: International Conference on Mechatronics and Intelligent Control (ICMIC2023), 2023, Wuhan, China

Abstract

In order to solve the path planning problem of USV(unmanned surface vehicle), a global path planning method integrating global path and local path is proposed in this paper. First, the global path planning of grid electronic chart is carried out using two different reward modes of PPO(Proximal Policy Optimization Algorithms) algorithm, and the global optimal path is selected after comparison. Secondly, The inflection point on the global optimal path is selected as the key point of the DWA(dynamic window algorithm) to optimize the local path. The simulation results show that the method can take into account the requirements of high smoothness and short navigation distance, and plan a safe and reasonable route in the static environment.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jiacheng Dai, Dayuan Chen, and Shujie Yang "Path planning method of unmanned ship based on PPO and DWA", Proc. SPIE 12793, International Conference on Mechatronics and Intelligent Control (ICMIC 2023), 1279313 (26 September 2023); https://doi.org/10.1117/12.3006648

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