Objective Current ship navigation decision-making systems struggle to demonstrate superior performance in undefined sailing scenarios. Given the broad applicability of large language models (LLMs) in unknown scenarios, this study proposes a dual-LLM-core-driven adaptive ship navigation agent architecture (Nav-DLLC) to address this issue.
Method Nav-DLLC employs ReAct-based prompting to decompose complex navigation tasks into manageable subtasks and invoke external tools for information collection, reducing LLM errors. Subsequently, a small-parameter LLM fine-tuned with low-rank adaptation (LoRA) serves as the collision avoidance core, processing unstructured data to generate COLREG-compliant decisions.
Results Simulation experiments show that Nav-DLLC achieves outstanding performance in both traditional ship collision avoidance tasks and unstructured dynamic scenarios. Its collision avoidance accuracy is 86%, and its behavior compliance rate is 90%, significantly outperforming LLM baselines and traditional methods such as the Dynamic Window Approach (DWA) and Artificial Potential Field (APF). The decision core's single-decision latency is 11.13 seconds, higher than the 0.73 seconds of traditional methods, yet still within the safe time window for collision avoidance decision-making.
Conclusions Nav-DLLC bridges the gap between traditional navigation systems and LLM technology, providing a safe and efficient intelligent decision-making paradigm for complex navigation environments and promoting the intelligent development of ship navigation.
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