多船会遇自主避碰算法  

Autonomous Collision Avoidance Method for Multi-ship Encounter Situations

作　　者：李啸雨 许劲松[1] 杨荣武[1] LI Xiaoyu;XU Jinsong;YANG Rongwu(Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学高新船舶与深海开发装备协同创新中心,上海200240

出　　处：《船舶工程》2018年第9期67-71,101,共6页Ship Engineering

摘　　要：船舶自主避碰技术已成为当前船舶与航运领域研究的热点问题。文章提出了一种满足COLREGs避碰规则的多船会遇自主避碰算法,以经典速度障碍法为基础设计自适应采样避碰轨迹生成算法,并应用运动基元理论对避碰轨迹进行调整,使轨迹满足船舶操纵性约束条件。针对案例三体船模型,完成多船会遇场景下的船模自主避碰航行试验,验证了所提算法的有效性和实用性,对船舶自主避碰系统的研发具有重要借鉴意义。The research on autonomous collision avoidance system attracts the wide attention. A COLREGs-compliant autonomous collision avoidance method for multi-ship encounter situations is proposed in the paper. A new adaptive sampling algorithm which is based on the classical velocity obstacle method is used to generate the planned route. The motion primitive method with a full consideration of the ship maneuverability constraints is employed to adjust the planned route. Successful on-water tests of a trimaran model validate the effectiveness and superiority of the proposed method, which is valuable for further development of autonomous collision avoidance system.

关 键 词：船舶自主避碰系统 多船会遇 COLREGs规则 操纵性约束 

分 类 号：U661.31[交通运输工程—船舶及航道工程]