Table 4 Reward function design parameters.
Parameter | Value range | Description |
|---|---|---|
\(\:\alpha\:\) | [0, 1] | Weight for collision avoidance reward |
\(\:\beta\:\) | [0, 1] | Weight for navigation efficiency reward |
\(\:\gamma\:\) | [0, 1] | Weight for COLREGs compliance reward |
\(\:{d}_{safe}\) | > 0 | Minimum safe distance between ships |
\(\:{d}_{max}\) | > \(\:{d}_{safe}\) | Maximum distance threshold for collision avoidance reward |
