Hyogon Kim

Safety-Enhanced COLREGs-Compliant Path Planning for USVs with a CBF-Based Safety Shield

This study proposes a safety-enhanced path planning system that integrates a Control Barrier Function (CBF)-based Safety Shield with Deep Reinforcement Learning (DRL). This framework addresses the critical limitations of conventional DRL-based Unmanned Surface Vehicle (USV) navigation models, which can output hazardous...