RL-Based USV Path Planning Under the Marine Multimodal Features Considerations
Quanbao Lin, Huaxing Gou, Peidong Tian, Tienyu Zuo, Hanzhong Zhang, Xin Wang, Poly Z. H. Sun
Abstract
Path planning is an important step in ensuring the safety of unmanned surface vehicle (USV) navigation and executing missions quickly and efficiently. However, current USV path planning methods lack comprehensive consideration of electronic nautical charts and meteorological data, resulting in planned paths being unable to fully utilize marine environmental conditions, which may easily lead to collisions and long navigation times. Based on the above considerations, our study designs a USV path planning system that comprehensively considers the multimodal information from electronic nautical charts and meteorological data. The system consists of three parts: 1) the image processing module; 2) the meteorological analysis module; and 3) the path planning module. In detail, the image processing module obtains the geographical feature information from the electronic chart and constructs a static obstacle environment. The meteorological analysis module obtains the meteorological feature information from meteorological data and constructs a dynamic meteorological vector field environment. The path planning module introduces a designed double deep Q-Network (DQN) structure, a multivariate weighted Dueling network, and a priority sampling mechanism to enhance the DQN algorithm for promising performance in USV path planning. Extensive experiments illustrate the superior performance of the proposed fusion DQN algorithm. Furthermore, the feasibility of the entire path planning system is confirmed.