COLREG-Compliant Obstacle Avoidance and Motion Planning for USVs Using Behavioral Grid Map and DRL

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2025

Autores

Divkoti, MRR (Autor) Outra; Aguiar, AP (Autor) FEUP

Ata de Conferência Internacional

Título: 2025 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS, ICARSC

Páginas: 86-91

2025 International Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual

Funchal, PORTUGAL, APR 02-03, 2025

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-018-XB9

DOI: 10.1109/icarsc65809.2025.10970148

Abstract (EN): Unmanned Surface Vehicles (USVs) are critical in maritime applications, requiring robust motion planning in dynamic and uncertain environments. Traditional algorithms like Velocity Obstacles (VO) and Dynamic Window Approach (DWA) face limitations in adaptability and efficiency, especially in highly dynamic scenarios. This paper presents a novel framework combining behavior grid maps and Proximal Policy Optimization (PPO) to address these challenges. Key contributions are the framework combining behavior grid maps and PPO for USV motion planning in dynamic environments, ensuring adherence to COLREGs, and the validation of the proposed approach through extensive simulations.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6