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Local Path Planning Method of the self-propelled model Based on Reinforcement Learning in Complex Conditions

Journal of Marine Science and Application 2014年第3期13卷 333-339页

作者： Yi Yang Yongjie Pang Hongwei Li Rubo Zhang Science and Technology on Underwater Vehicle Laboratory Harbin Engineering University Harbin 150001 China College of Electromechanical & Information Engineering Dalian Nationalities University Dalian 116600 China

Conducting hydrodynamic and physical motion simulation tests using a large-scale self-propelled model under actual wave conditions is an important means for researching environmental adaptability of ships. During the navigation test of the self-propelled model, the complex environment including various port facilities, navigation facilities, and the ships nearby must be considered carefully, because in this dense environment the impact of sea waves and winds on the model is particularly significant. In order to improve the security of the self-propelled model, this paper introduces the Q learning based on reinforcement learning combined with chaotic ideas for the model＇s collision avoidance, in order to improve the reliability of the local path planning. Simulation and sea test results show that this algorithm is a better solution for collision avoidance of the self navigation model under the interference of sea winds and waves with good adaptability.

关键词： self-propelled model local path planning Q learning obstacle avoidance reinforcement learning

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Characteristics of the Internal Waves Generated by a Towed model with Rotating Propeller Under a Strong Halocline

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Journal of Shanghai Jiaotong university(Science) 2019年第2期24卷 176-183页

作者： DUAN Ningyuan CHEN Ke WANG Hongwei YOU Yunxiang State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University China Ship Development and Design Center (Shanghai)

Experiments are performed on the internal waves(IWs) generated by a towed model with rotating propeller in a density-stratified fluid with linear halocline; the Reynolds number ranges from 7 000 to 84 000, and the Froude number ranges from 0.7 to 8.1. The wave speed, amplitude and patterns are investigated on the basis of the multi-channel conductivity probe array technology and the cross correlation analysis method. It is shown that the propeller advances the transition from the body-generated IWs to the wake-generated IWs. Before the transition, the IWs are stationary to the translational model. An extra V-shaped wave with a narrow opening angle is generated by the propeller and the wave amplitude becomes larger with the increase of the thrust momentum,indicating that the propeller produces body and wake effects at the same time before the transition. After the transition, the Froude number associated with the wave speed drops down and fluctuates within 0.4—1.5, showing that the IWs are nonstationary to the model. The interaction of the drag momentum and the thrust momentum changes the characteristics of the wave amplitudes and patterns. The wave amplitude no longer simply grows with the Froude number but depends on the contrast of the drag momentum and the thrust momentum. Experimental results show that the most obvious contrast of the wave pattern contour maps appears when the drag momentum and the thrust momentum have the largest difference if other conditions are the same. When the ratio of the drag momentum to the thrust momentum is within 1—10, the wake can be considered as zero-momentum, meaning that the momentum difference is not enough to generate large scale structures in the wake.

关键词： internal wave(IW) stratified fluid momentum wake self-propelled model

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