文章基本信息

标题：Roll Motion Prediction of Unmanned Surface Vehicle Based on Coupled CNN and LSTM
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作者：Wenjie Zhang , Pin Wu , , Yan Peng ; Dongke Liu
期刊名称：Future Internet
电子版ISSN：1999-5903
出版年度：2019
卷号：11
期号：11
页码：1-10
DOI：10.3390/fi11110243
出版社：MDPI Publishing
摘要：The prediction of roll motion in unmanned surface vehicles (USVs) is vital for marine safety and the efficiency of USV operations. However, the USV roll motion at sea is a complex time-varying nonlinear and non-stationary dynamic system, which varies with time-varying environmental disturbances as well as various sailing conditions. The conventional methods have the disadvantages of low accuracy, poor robustness, and insufficient practical application ability. The rise of deep learning provides new opportunities for USV motion modeling and prediction. In this paper, a data-driven neural network model is constructed by combining a convolution neural network (CNN) with long short-term memory (LSTM) for USV roll motion prediction. The CNN is used to extract spatially relevant and local time series features of the USV sensor data. The LSTM layer is exploited to reflect the long-term movement process of the USV and predict roll motion for the next moment. The fully connected layer is utilized to decode the LSTM output and calculate the final prediction results. The effectiveness of the proposed model was proved using USV roll motion prediction experiments based on two case studies from “JingHai-VI” and “JingHai-III” USVS of Shanghai University. Experimental results on a real data set indicated that our proposed model obviously outperformed the state-of-the-art methods.
关键词：CNN; data-driven; LSTM; roll motion prediction; unmanned surface vehicle CNN ; data-driven ; LSTM ; roll motion prediction ; unmanned surface vehicle