船舶自动避碰仿真研究

魏  伊; 薛彦卓

doi:10.16411/j.cnki.issn1006-7736.2013.02.031

大连海事大学学报 >

2013 , Vol. 39 >Issue 2: 18 - 20

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2013.02.031

交通运输工程

船舶自动避碰仿真研究

魏伊 ,
薛彦卓

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哈尔滨工程大学船舶工程学院，哈尔滨 150001

魏伊(1987 — )，女，硕士生，E-mail: wy608760@163.com. 薛彦卓(1978 — ），男，博士，副教授，E-mail: xueyanzhuo@hrbeu.edu.cn.

收稿日期: 2012-12-10

网络出版日期: 2023-05-25

基金资助

中国博士后科学基金资助项目（2012M510084）；黑龙江省自然科学基金资助项目（LC2012C25）；中央高校基本科研业务费专项资金项目（P013012203）

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Simulation research on ship automatic collision avoidance

WEI Yi ,
XUE Yan-zhuo

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College of Shipbuilding Engineering， Harbin Engineering University, Harbin 150010, China

Received date: 2012-12-10

Online published: 2023-05-25

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摘要

针对海上交通环境复杂、内河航道易于碰撞的问题，研究可辅助船舶操纵的自动避碰系统.分析了船舶避碰的影响因素、船舶受力对船舶航行的影响，并对人工势场法进行改进，优化了船舶行驶路径.基于改进的人工势场法设计船舶路径规划流程，以长江水域为例进行弯曲航道的模拟.结果表明，采用人工势场法可以辅助船舶自动航行,在安全的情况下获得较短的避障路径.通过增加转向点可以减小人工势场法局部极小点的发生概率.

关键词： 船舶; 受限水域; 自动避碰; 人工势场法; 转向点

本文引用格式

魏伊 , 薛彦卓 . 船舶自动避碰仿真研究[J]. 大连海事大学学报, 2013 , 39(2) : 18 -20 . DOI: 10.16411/j.cnki.issn1006-7736.2013.02.031

Abstract

The ship navigation characteristics in restricted waters are considered and the current problems and deficiencies in this field are analyzed. the ship automatic collision avoidance system which can help ship maneuvering is studied. On the foundation of ship collision avoidance factors, the plan of ship path and the solution to the ship collision avoidance problems in restricted waters are introduced with artificial potential field method. The limitations of artificial potential field method are optimized though providing the concept of turning points. The reasons and principles of setting them are proposed to improve algorithm of ship avoidance path planning in confined waters. The cases of ship autonavigation in Yangtze River entrance are conducted with Matlab program,on the foundation of mathematical model of ship movement. The differences between the navigation path before and after setting turning point are compared in restricted waters, and results of the experiments after adding the turning point are analyzed. Simulation results indicate that ships can avoid all the obstacles in restricted waters safely without crash, and find optimal path.

Key words： ship; restricted waters; automatic collision avoidance; artificial potential field method; turning point

参考文献

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