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Risk-Sensitive Markov Decision Processes of USV Trajectory Planning with Time-Limited Budget
Trajectory planning plays a crucial role in ensuring the safe navigation of ships, as it involves complex decision making influenced by various factors. This paper presents a heuristic algorithm, named the Markov decision process Heuristic Algorithm (MHA), for time-optimized avoidance of Unmanned Su...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10535518/ https://www.ncbi.nlm.nih.gov/pubmed/37765903 http://dx.doi.org/10.3390/s23187846 |
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author | Ding, Yi Zhu, Hongyang |
author_facet | Ding, Yi Zhu, Hongyang |
author_sort | Ding, Yi |
collection | PubMed |
description | Trajectory planning plays a crucial role in ensuring the safe navigation of ships, as it involves complex decision making influenced by various factors. This paper presents a heuristic algorithm, named the Markov decision process Heuristic Algorithm (MHA), for time-optimized avoidance of Unmanned Surface Vehicles (USVs) based on a Risk-Sensitive Markov decision process model. The proposed method utilizes the Risk-Sensitive Markov decision process model to generate a set of states within the USV collision avoidance search space. These states are determined based on the reachable locations and directions considering the time cost associated with the set of actions. By incorporating an enhanced reward function and a constraint time-dependent cost function, the USV can effectively plan practical motion paths that align with its actual time constraints. Experimental results demonstrate that the MHA algorithm enables decision makers to evaluate the trade-off between the budget and the probability of achieving the goal within the given budget. Moreover, the local stochastic optimization criterion assists the agent in selecting collision avoidance paths without significantly increasing the risk of collision. |
format | Online Article Text |
id | pubmed-10535518 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-105355182023-09-29 Risk-Sensitive Markov Decision Processes of USV Trajectory Planning with Time-Limited Budget Ding, Yi Zhu, Hongyang Sensors (Basel) Article Trajectory planning plays a crucial role in ensuring the safe navigation of ships, as it involves complex decision making influenced by various factors. This paper presents a heuristic algorithm, named the Markov decision process Heuristic Algorithm (MHA), for time-optimized avoidance of Unmanned Surface Vehicles (USVs) based on a Risk-Sensitive Markov decision process model. The proposed method utilizes the Risk-Sensitive Markov decision process model to generate a set of states within the USV collision avoidance search space. These states are determined based on the reachable locations and directions considering the time cost associated with the set of actions. By incorporating an enhanced reward function and a constraint time-dependent cost function, the USV can effectively plan practical motion paths that align with its actual time constraints. Experimental results demonstrate that the MHA algorithm enables decision makers to evaluate the trade-off between the budget and the probability of achieving the goal within the given budget. Moreover, the local stochastic optimization criterion assists the agent in selecting collision avoidance paths without significantly increasing the risk of collision. MDPI 2023-09-13 /pmc/articles/PMC10535518/ /pubmed/37765903 http://dx.doi.org/10.3390/s23187846 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Ding, Yi Zhu, Hongyang Risk-Sensitive Markov Decision Processes of USV Trajectory Planning with Time-Limited Budget |
title | Risk-Sensitive Markov Decision Processes of USV Trajectory Planning with Time-Limited Budget |
title_full | Risk-Sensitive Markov Decision Processes of USV Trajectory Planning with Time-Limited Budget |
title_fullStr | Risk-Sensitive Markov Decision Processes of USV Trajectory Planning with Time-Limited Budget |
title_full_unstemmed | Risk-Sensitive Markov Decision Processes of USV Trajectory Planning with Time-Limited Budget |
title_short | Risk-Sensitive Markov Decision Processes of USV Trajectory Planning with Time-Limited Budget |
title_sort | risk-sensitive markov decision processes of usv trajectory planning with time-limited budget |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10535518/ https://www.ncbi.nlm.nih.gov/pubmed/37765903 http://dx.doi.org/10.3390/s23187846 |
work_keys_str_mv | AT dingyi risksensitivemarkovdecisionprocessesofusvtrajectoryplanningwithtimelimitedbudget AT zhuhongyang risksensitivemarkovdecisionprocessesofusvtrajectoryplanningwithtimelimitedbudget |