哈尔滨工程大学学报2023，Vol.55Issue(10)：1680-1688,9.DOI:10.11990/jheu.202204063
成山角水域动态自适应自主航行决策方法
Dynamic adaptive method of autonomous navigation decision-making in the Chengshanjiao waters
摘要
Abstract
In order to study the autonomous navigation method of ships in Chengshanjiao traffic separation scheme waters,the traffic environment of the waters was digitized,the quantitative model of collision risk and dynamic collision avoidance mechanism were explored.An automatic navigation model coupled with course control method,nonlinear maneuvering motion model and route tracking method is established.Finally the autonomous navigation decision-making method that can adapt to random maneuvering of target ship and self-correcting system residual was proposed based on time sequence rolling.The method takes into account the requirements of convention on the international regulations for preventing collisions at sea(COLREGs)and good seamanship.The experimental results show that it can ensured to keep clear of all target ships and sail along the planned route.In the preset scenario,the ship can pass safely by turning starboard 14° and 5° at 31 s and 3 762 s.A method can provide a theoretical basis for autonomous navigation in traffic separation scheme waters is proposed.关键词
分道通航制/碰撞危险度/避碰机理/自主航行决策/航线跟踪/避碰规则/良好船艺/交通环境数字化Key words
traffic separation scheme/collision risk index/mechanism of collision avoidance/autonomous naviga-tion decision/route tracking/COLREGs/good seamanship/traffic environment digitization分类
交通工程引用本文复制引用
贺益雄,于德清,刘霄,王丰,牟军敏..成山角水域动态自适应自主航行决策方法[J].哈尔滨工程大学学报,2023,55(10):1680-1688,9.基金项目
国家自然科学基金(52078038) （52078038）
科技部国家级外专项目(G2021105009L) （G2021105009L）
北京科技大学科技与文明中外人文交流研究开放课题(2020KFYB012) （2020KFYB012）
