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Development of AI for autonomous ship handling to accelerate ocean-bottom exploration, and its demonstration at actual sea

Research Project

Project/Area Number 20H00284
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Review Section Medium-sized Section 24:Aerospace engineering, marine and maritime engineering, and related fields
Research InstitutionOsaka Metropolitan University (2022)
Osaka Prefecture University (2020-2021)

Principal Investigator

Hashimoto Hirotada  大阪公立大学, 大学院工学研究科, 教授 (30397731)

Co-Investigator(Kenkyū-buntansha) 青木 尊之  東京工業大学, 学術国際情報センター, 教授 (00184036)
松田 秋彦  国立研究開発法人水産研究・教育機構, 水産技術研究所(神栖), 主幹研究員 (10344334)
島 伸和  神戸大学, 理学研究科, 教授 (30270862)
Project Period (FY) 2020-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥44,590,000 (Direct Cost: ¥34,300,000、Indirect Cost: ¥10,290,000)
Fiscal Year 2022: ¥14,170,000 (Direct Cost: ¥10,900,000、Indirect Cost: ¥3,270,000)
Fiscal Year 2021: ¥17,290,000 (Direct Cost: ¥13,300,000、Indirect Cost: ¥3,990,000)
Fiscal Year 2020: ¥13,130,000 (Direct Cost: ¥10,100,000、Indirect Cost: ¥3,030,000)
Keywords自律操船AI / 深層強化学習 / 逆強化学習 / 測線トラッキング / 定点保持 / 自動避航 / 自動離着岸 / 実船実験 / 自律操船 / CFD / 模型実験 / AI / マンマシンインターフェース / 海洋底探査 / 自動操船システム / GPU
Outline of Research at the Start

海溝型地震や海底火山噴火の予測,熱水活動観測による資源評価など,調査船を用いた海洋底探査の重要性が増している。本研究では,測線の自動トラッキングや外乱下での定点・方位保持,水中探査機への超低速追従など,海洋底探査に求められる高度ミッションを達成するための自律操船AIを開発する。さらに,開発したAIを実海域での探査に投入し,実船実験による実証までを行うことで,今後の海洋底探査を加速する基盤技術として確立する。

Outline of Final Research Achievements

In this research, we developed AI for automating a series of ship maneuvers required for ocean-bottom exploration, such as line tracking, dynamic positioning, collision avoidance, docking and undocking. Deep reinforcement learning is used to acquire the autonomous control laws, so we designed state inputs, action outputs, and reward functions according to each maneuver. Demonstration experiments were conducted for validating the ship maneuvering AI using model ships or actual ships. Then, we have confirmed not only its maneuvering ability, but also its robustness against sensor noises, modeling errors, and external disturbances. In addition, we have succeeded to visualize rewards reflecting the sensation of experts by inverse reinforcement learning, and to incorporate the transfer learning into enhancing the ship maneuvering AI. These achievements can be led to the basic technologies that will accelerate future ocean-bottom exploration.

Academic Significance and Societal Importance of the Research Achievements

船舶は慣性が大きく,操船に対する応答性が極めて遅い.また,波や風などの自然外乱を空間的・時間的に把握することは困難である.本研究では,深層強化学習を用いて海洋底探査に求められる高度な判断と緻密な操船を自律操船AIに置き換えることに挑戦した.シミュレーションのみによる研究が数多く報告される中で,実船を用いた実証実験を繰り返し,AIの操船能力に加えてモデル化誤差や外乱影響に対するロバスト性までを実証できたことは学術的に意義がある.また,若年労働者の減少により船員の安定確保が困難となりつつある日本において,無人運航船の早期実現へと繋がる本研究の成果は社会的にも大きな意味がある.

Report

(5 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Annual Research Report
  • 2020 Comments on the Screening Results   Annual Research Report
  • Research Products

    (30 results)

All 2023 2022 2021 2020

All Journal Article (10 results) (of which Peer Reviewed: 5 results,  Open Access: 4 results) Presentation (19 results) (of which Int'l Joint Research: 5 results,  Invited: 5 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Free-surface flow simulations with floating objects using lattice Boltzmann method2023

    • Author(s)
      Watanabe Seiya、Kawahara Jun、Aoki Takayuki、Sugihara Kenta、Takase Shinsuke、Moriguchi Shuji、Hashimoto Hirotada
    • Journal Title

      Engineering Applications of Computational Fluid Mechanics

      Volume: 17 Issue: 1 Pages: 2211143-2211143

    • DOI

      10.1080/19942060.2023.2211143

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Investigation and Imitation of Human Captains' Maneuver Using Inverse Reinforcement Learning2022

    • Author(s)
      Higaki Takefumi、Hashimoto Hirotada、Yoshioka Hitoshi
    • Journal Title

      Journal of the Japan Society of Naval Architects and Ocean Engineers

      Volume: 36 Issue: 0 Pages: 137-148

    • DOI

      10.2534/jjasnaoe.36.137

    • ISSN
      1880-3717, 1881-1760
    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Influence of sea areas and season in navigation on the ship vulnerability to the parametric rolling failure mode2022

    • Author(s)
      Hashimoto Hirotada、Furusho Kazuki
    • Journal Title

      Ocean Engineering

      Volume: 266 Pages: 112714-112714

    • DOI

      10.1016/j.oceaneng.2022.112714

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Ship-stopping algorithm utilizing VecTwin rudder system for automatic collision prevention2022

    • Author(s)
      Hashimoto Hirotada、Makino Hidenari、Yoshioka Hitoshi、Matsuda Akihiko
    • Journal Title

      Ocean Engineering

      Volume: 251 Pages: 111098-111098

    • DOI

      10.1016/j.oceaneng.2022.111098

    • Related Report
      2022 Annual Research Report 2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 深層強化学習による避航操船の獲得と実証実験2022

    • Author(s)
      橋本博公
    • Journal Title

      日本船舶海洋工学会誌

      Volume: 100 Pages: 30-34

    • Related Report
      2021 Annual Research Report
  • [Journal Article] 調査船による海底火山研究-鬼界海底カルデラプロジェクトを例として-2022

    • Author(s)
      島伸和
    • Journal Title

      日本船舶海洋工学会誌

      Volume: 101 Pages: 22-27

    • Related Report
      2021 Annual Research Report
  • [Journal Article] Kikai Submarine Caldera Project - Investigations on Mechanism of Super-eruption2021

    • Author(s)
      島 伸和
    • Journal Title

      Marine Engineering

      Volume: 56 Issue: 1 Pages: 139-143

    • DOI

      10.5988/jime.56.139

    • NAID

      130007975698

    • ISSN
      1346-1427, 1884-3778
    • Year and Date
      2021-01-01
    • Related Report
      2020 Annual Research Report
  • [Journal Article] Large-scale flow simulations using lattice Boltzmann method with AMR following free-surface on multiple GPUs2021

    • Author(s)
      Watanabe Seiya、Aoki Takayuki
    • Journal Title

      Computer Physics Communications

      Volume: 264 Pages: 107871-107871

    • DOI

      10.1016/j.cpc.2021.107871

    • Related Report
      2021 Annual Research Report 2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 自動操船AIの開発と実船実験による検証2021

    • Author(s)
      橋本博公、西村遥、西山尚材、樋口譲司
    • Journal Title

      ClassNK 技報

      Volume: 3 Pages: 27-34

    • Related Report
      2021 Annual Research Report
    • Open Access
  • [Journal Article] Development of AI-based Automatic Collision Avoidance System and Evaluation by Actual Ship Experiment2021

    • Author(s)
      Hashimoto Hirotada、Nishimura Haruka, Nishiyama Hisaki, Higuchi George
    • Journal Title

      ClassNK Technical Journal

      Volume: 3 Pages: 41-50

    • Related Report
      2021 Annual Research Report
    • Open Access
  • [Presentation] Apprentice Route Planner for Automatic Collision Avoidance2023

    • Author(s)
      Takefumi Higaki, Hirotada Hashimoto, Hitoshi Yoshioka
    • Organizer
      4th International Conference on Smart & Green Technology for Shipping and Offshore Decommissioning
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 敵対的生成模倣学習を用いた着桟航路計画の策定2023

    • Author(s)
      野邉大貴、檜垣岳史、橋本博公
    • Organizer
      日本船舶海洋工学会令和5年春季講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 海洋底探査を加速する自操船AIの開発ー実用的な測線追従制御ー2023

    • Author(s)
      吉岡舜、橋本博公、松田秋彦
    • Organizer
      日本船舶海洋工学会令和5年春季講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 任意の避航航跡を模倣可能な航路プランナーの開発2023

    • Author(s)
      檜垣岳史、橋本博公、吉岡舜
    • Organizer
      日本船舶海洋工学会令和5年春季講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 船舶の衝突危険度分布の算出方法2023

    • Author(s)
      吉岡舜、橋本博公、牧野秀成
    • Organizer
      日本船舶海洋工学会令和5年春季講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] Date-Driven Approaches for Safe Nabvigation2023

    • Author(s)
      Takefumi Higaki, Hirotada Hashimoto
    • Organizer
      US-Japan Joint Workshop on Ship Hydrodynamics in Hiroshima-U
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of Remote and Autonomous Navigation Systems2023

    • Author(s)
      Hitoshi Yoshioka, Akihiko Matsuda, Hirotada Hashimoto
    • Organizer
      US-Japan Joint Workshop on Ship Hydrodynamics in Hiroshima-U
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Enhanced-scale using AMR-based simulation for multiphase flows and fluid-structure interaction2023

    • Author(s)
      Takayuki Aoki
    • Organizer
      HPC Asia Workshop 3: Multi-scale, Multi-physics and Coupled Problems on highly parallel systems (MMCP)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] AI-based Collision Avoidance for Automatic Ship Navigation2022

    • Author(s)
      Hitoshi Yoshioka, Hirotada Hashimoto
    • Organizer
      The 18th International Ship Stability Workshop
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 自動避航操船のための最適航路計画の策定 -逆強化学習による熟練船長の模倣-2022

    • Author(s)
      檜垣岳史、橋本博公、吉岡舜
    • Organizer
      日本船舶海洋工学会令和4年春季講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 自動離着岸操船システムの開発と実証2022

    • Author(s)
      肥後佑平、阪野大貴、野邉大貴、橋本博公
    • Organizer
      日本船舶海洋工学会令和4年秋季講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 自動運航船のための避航航路計画アルゴリズム2022

    • Author(s)
      吉岡舜、橋本博公
    • Organizer
      日本船舶海洋工学会令和4年秋季講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 敵対的生成模倣学習による避航操船行動の再現2022

    • Author(s)
      檜垣岳史、橋本博公
    • Organizer
      日本船舶海洋工学会令和4年秋季講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] A Large-scale Simulation of Driftwood Disaster by Using LBM with AMR2021

    • Author(s)
      Shen Dawei、Aoki Takayuki、Watanabe Seiya、Moriguchi Shuji、Takase Shinsuke、Sakuraba Masaaki
    • Organizer
      日本計算工学会 第26回計算工学講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] A Domain Decomposition Method based on a Multi-phase-field Model to Reduce Inter-node Communication2021

    • Author(s)
      Seiya Watanabe、Takayuki Aoki、Changhong Hu、Shintaro Matsushita、Tomohiro Takaki
    • Organizer
      Parallel CFD 2021
    • Related Report
      2021 Annual Research Report
  • [Presentation] LBMとAMRを用いた実在の災害に対する大規模な流木シミュレーション2021

    • Author(s)
      Shen Dawei、Aoki Takayuki、Watanabe Seiya、Moriguchi Shuji、Takase Shinsuke、Sakuraba Masaaki
    • Organizer
      日本流体力学会 第35回数値流体力学シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] 深層強化学習を用いた船舶の自動避航に関する研究2021

    • Author(s)
      橋本博公
    • Organizer
      日本船舶海洋工学会 情報技術研究会
    • Related Report
      2020 Annual Research Report
    • Invited
  • [Presentation] 弱圧縮性計算手法による非圧縮性の混相流シミュレーション2020

    • Author(s)
      青木尊之
    • Organizer
      日本流体力学会 第34回数値流体力学シンポジウム
    • Related Report
      2020 Annual Research Report
    • Invited
  • [Presentation] 鬼界海底巨大カ ルデラ火山における二重カルデラ形成過程の解明 ―新青丸 KS-19-17 航海概要報告―2020

    • Author(s)
      島伸和、清杉孝司、中岡礼奈、松野哲男、金子克哉、清水賢、鈴木桂子、岡本信行、羽入朋子、井和丸光、阿部俊輔、佐野守、木村純一、杉岡裕子、巽好幸、羽生毅、新谷毅、益田晴恵、亀尾桂、沖野郷子、榎正憲、石塚治
    • Organizer
      海と地球のシンポジウム2020
    • Related Report
      2020 Annual Research Report
  • [Patent(Industrial Property Rights)] 評価装置、評価方法及び船2022

    • Inventor(s)
      橋本博公、吉岡舜、牧野秀成
    • Industrial Property Rights Holder
      公立大学法人大阪
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2022-212394
    • Filing Date
      2022
    • Related Report
      2022 Annual Research Report

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Published: 2020-04-28   Modified: 2024-01-30  

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