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Creation of Fundamental Technologies for Next-generation Automatic Collision Avoidance System

Research Project

Project/Area Number 17K00306
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent informatics
Research InstitutionKobe University

Principal Investigator

Hirayama Katsutoshi  神戸大学, 海事科学研究科, 教授 (00273813)

Project Period (FY) 2017-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2019: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2018: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Keywords分散衝突回避 / フリートコントロール / マルチエージェント経路発見 / 船舶衝突回避 / 非協力エージェント / 制約最適化問題 / エージェント / 人工知能 / 数理工学
Outline of Final Research Achievements

In this project, as the fundamental technologies of next-generation automatic collision avoidance, we have further enhanced distributed collision avoidance algorithms for ship collision avoidance that has been developed so far. We have also tried to develop general-purpose mechanisms that would be applied to any vehicles other than ships. The main achievements of this project are as follows. (1) We have developed a new algorithm and its functions were greatly expanded to enhance its versatility. (2) We have evaluated the performance of algorithm under realistic and diverse scenarios. (3) We have incorporated and tested the algorithm into the system that achieves more advanced tasks including collision avoidance, and (4) We have pursued to integrate the basic idea of algorithm with another technology in order to realize more organized behavior of vehicles.

Academic Significance and Societal Importance of the Research Achievements

本研究で開発した船舶衝突回避のための分散衝突回避アルゴリズムDSSAに関する論文は,海事系分野におけるトップクラスの国際学術論文誌The Journal of Navigationに掲載され,さらにScopusにおいてTop 6.13%論文に位置付けられている.また,DSSAの発展版であるDSSA+に関する論文も,海事系分野における著名な国際学術論文誌TransNavに掲載された.このように本研究は,分散衝突回避アルゴリズムという基本アイデアを当該分野に広く認知させたという点で大きな意義があったと考える.

Report

(4 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Research-status Report
  • 2017 Research-status Report
  • Research Products

    (14 results)

All 2020 2019 2018 2017 Other

All Int'l Joint Research (2 results) Journal Article (3 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 3 results,  Open Access: 2 results) Presentation (9 results) (of which Int'l Joint Research: 2 results)

  • [Int'l Joint Research] 木浦海洋大学(韓国)

    • Related Report
      2019 Annual Research Report
  • [Int'l Joint Research] 北京理工大学(中国)

    • Related Report
      2017 Research-status Report
  • [Journal Article] A Study on Intention Exchange-based Ship Collision Avoidance by Changing the Safety Domain2019

    • Author(s)
      Donggyun Kim
    • Journal Title

      Journal of the Korean Society of Marine Environment and Safety

      Volume: 25(3) Issue: 3 Pages: 259-268

    • DOI

      10.7837/kosomes.2019.25.3.259

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] DSSA+: Distributed Collision Avoidance Algorithm in an Environment where Both Course and Speed Changes are Allowed2019

    • Author(s)
      Katsutoshi Hirayama, Koki Miyake, Tomohiro Shiota, Tenda Okimoto
    • Journal Title

      TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation

      Volume: --

    • Related Report
      2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Distributed Stochastic Search Algorithm for Multi-ship Encounter Situations2017

    • Author(s)
      Dong-Gyun Kim, Katsutoshi Hirayama, Tenda Okimoto
    • Journal Title

      Journal of Navigation

      Volume: 印刷中 Issue: 4 Pages: 699-718

    • DOI

      10.1017/s037346331700008x

    • NAID

      120006550265

    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] 移動回数制限付きマルチエージェント経路発見問題の新しい定式化と解法2020

    • Author(s)
      原田 拓歩,平山 勝敏,沖本 天太,國師 大朗
    • Organizer
      2020年度人工知能学会全国大会(第34回) (JSAI-2020) 講演論文集
    • Related Report
      2019 Annual Research Report
  • [Presentation] DSSA+for3D:分散確率的探索アルゴリズムDSSA+の3次元空間への拡張2020

    • Author(s)
      塩田 知広,平山 勝敏,沖本 天太
    • Organizer
      2020年度人工知能学会全国大会(第34回) (JSAI-2020) 講演論文集
    • Related Report
      2019 Annual Research Report
  • [Presentation] 分散最適化アルゴリズムによる自律編成型艦隊制御に関する一考察2019

    • Author(s)
      塩田 知広,宮家 昴希,平山 勝敏,沖本 天太
    • Organizer
      情報処理学会第81回全国大会
    • Related Report
      2018 Research-status Report
  • [Presentation] 速度制御を考慮に入れた分散衝突回避アルゴリズム2019

    • Author(s)
      宮家 昴希,平山 勝敏,塩田 知広,沖本 天太
    • Organizer
      情報処理学会第81回全国大会
    • Related Report
      2018 Research-status Report
  • [Presentation] 分散確率的探索アルゴリズムを用いた船舶衝突回避における非協力船舶の影響2018

    • Author(s)
      唐渡 裕基,平山 勝敏,沖本 天太,金 東均
    • Organizer
      2018年度人工知能学会全国大会(第32回) (JSAI-2018)
    • Related Report
      2018 Research-status Report
  • [Presentation] Area Protection in Adversarial Path-finding Scenarios with Multiple Mobile Agents on Graphs - A Theoretical and Experimental Study of Strategies for Defense Coordination2018

    • Author(s)
      Marika Ivanova, Pavel Surynek, Katsutoshi Hirayama
    • Organizer
      10th International Conference on Agents and Artificial Intelligence (ICAART-2018)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] 時間拡張グラフ上のナンバーリンクパズルとしてのマルチエージェント経路発見2018

    • Author(s)
      宮田直人,平山勝敏,沖本天太
    • Organizer
      情報処理学会第80回全国大会
    • Related Report
      2017 Research-status Report
  • [Presentation] 分散確率的探索アルゴリズムを用いた船舶衝突回避における非協力船舶の影響2018

    • Author(s)
      唐渡裕基,平山勝敏,沖本天太,金東均
    • Organizer
      2018年度人工知能学会全国大会(第32回)
    • Related Report
      2017 Research-status Report
  • [Presentation] Cost Function for Ship Collision Avoidance in Distributed System2017

    • Author(s)
      Donggyun Kim, Kaoru Hirota, and Yaping Dai
    • Organizer
      5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics (IWACIII-2017)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research

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Published: 2017-04-28   Modified: 2021-02-19  

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