Collaborative exploration of multiple unmanned surface vessels in complex areas based on PPO algorithm

Abstract

The increasing congestion of maritime traffic leads to frequent maritime traffic accidents. Unmanned search and rescue equipment provides a guarantee for rapid rescue operations. In marine accidents, the waiting time is short and the rescue risk factor is high. Unmanned surface vessel (USV) can transport rescue equipment to the accident site in the first time and carry out searching and rescuing, which will greatly improve rescue efficiency. With the development of technology, USV can autonomously conduct area exploration to assist in the discovery of survivors. This paper proposes a complex area exploration of multiple unmanned surface vessels based on the Proximal Policy Optimization algorithm (PPO). The PPO algorithm is used to improve training efficiency, achieve 100% search coverage in complex water surface areas, and make searching and rescuing operations safe, simple and efficient. Experimental simulations show that the algorithm can realize 100% area exploration, have high search efficiency, and consumes less energy. This is a new intelligent ship application that can complete 100% exploration without human involvement.