复杂环境下船舶慢速域自主航行决策方法OA北大核心CSTPCD

In order to solve the problem of autonomous navigation decisions in a complex environment for ships operated in low-speed,a variable-speed autonomous navigation decision-making method was presented based on"International Regulations for Preventing Collisions at Sea"(COLREGs),ship manoeuvrability characteristics and good seamanship.The factor of thrust variation with rotation per minute of propeller and ship speed was added to the improved mathematical model group(MMG).The ship manoeuvring motion model in slow-speed domain and the adaptive optimal course control method were proposed to accurately predict the ship's manoeuvring motion process.An autonomous navigation decision-making method for complex multi-ship encounter scenarios was presented by combining the improved velocity algorithm and four-stage theory based on quantitative COLREGs,which provides two collision avoidance strategies:changing speed and altering course.The simulation shows that the proposed method can present effective and precise autonomous navigation decisions in the multi-ship environment,which are collision-free and able to track planned route timely.