大连海事大学学报 >

2023 , Vol. 49 >Issue 1: 34 - 43

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2023.01.004

交通运输工程

基于混合粒子群算法的船舶避碰决策

  • 宁君 ,
  • 黄寓旸 ,
  • 李伟 ,
  • 高鉴一 ,
  • 张帅
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  • （1.大连海事大学 航海学院，辽宁 大连 116026;2.上海船舶研究设计院 上海 200120）
宁君(1988 — )，男，博士生，讲师，E-mail：junning@dlmu.edu.cn;李伟（1968 — ），男，博士，教授， E-mail：li_wei@dlmu.edu.cn

收稿日期: 2022-09-23

  修回日期: 2022-12-11

  网络出版日期: 2023-01-12

基金资助

国家自然科学基金重点项目（51939001）；国家自然科学基金面上项目（61976033;52171292）；国家自然科学基金青年科学基金项目（61803064）；中央高校基本科研业务费专项资金资助项目（3132022143）

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Ship collision avoidance decision based on hybrid particle swarm algorithm

  • NING Jun ,
  • HUANG Yu-yang ,
  • LI Wei ,
  • GAO Jian-yi ,
  • ZHANG Shuai
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  • (1. Navigation College, Dalian Maritime University, Dalian 116026, China；2. Shanghai Merchant Ship Design & Research Institute, Shanghai 200120,China)

Received date: 2022-09-23

  Revised date: 2022-12-11

  Online published: 2023-01-12

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摘要

为解决船舶在开阔水域中的避碰决策问题，提出基于混合粒子群算法的船舶避碰决策方法。首先，针对粒子群算法在迭代后期容易陷入局部最优的局限性，引入高斯位置变异概念，扩大粒子的搜索广度。利用自适应策略对惯性权重进行改进，在保证粒子多样性的同时，提高粒子的局部搜索能力;其次，基于多目标优化方法构建目标函数，引入基于模糊综合评价策略构建的船舶碰撞危险度模型，统筹考虑《国际海上避碰规则》、海船船员通常做法、航行安全性与经济性，实现了多船会遇态势下的避碰路径规划;最后，通过Matlab仿真实验验证了所提算法的有效性。相比标准的粒子群算法，本文船舶避碰决策效果显著提高。

关键词： 船舶避碰决策; 高斯变异; 混合粒子群算法; 多目标优化

本文引用格式

宁君 , 黄寓旸 , 李伟 , 高鉴一 , 张帅 . 基于混合粒子群算法的船舶避碰决策[J]. 大连海事大学学报, 2023 , 49(1) : 34 -43 . DOI: 10.16411/j.cnki.issn1006-7736.2023.01.004

Abstract

In order to solve the problem of ship collision avoidance decision-making in open water, a ship collision avoidance decision-making method based on hybrid particle swarm algorithm was proposed. Firstly, in view of the limitation that particle swarm algorithm was prone to fall into local optimization at the later stage of iteration, the concept of Gaussian position mutation was introduced to expand the search range of particles, and the inertia weight was improved by adaptive strategy, so as to improve the local search ability of particles while ensuring the diversity of particles. Secondly, the objective function was constructed based on the multi-objective optimization method, and the ship collision risk model based on the fuzzy comprehensive evaluation strategy was introduced, taking into account the International Regulations for the Preventing Collision at Sea, common practices of seafarers, navigation safety and economy, and realizing the collision avoidance path planning under the situation of multi-ship encounter. Finally, the effectiveness of the proposed algorithm was verified by Matlab simulation experiment. Compared with the standard particle swarm algorithm, the decision-making effect of ship collision avoidance is significantly improved. 

Key words： ship collision avoidance decision-making; Gaussian mutation; hybrid particle swarm algorithm; multi-objective optimization

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