基于粒子群算法和航行规则的分步多船避碰路径规划  

Stepwise multi-ship collision avoidance path planning based on particle swarm optimization and navigation rules

作　　者：杲飞 颜德文 GAO Fei;YAN Dewen(College of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学船舶电气工程学院

出　　处：《现代电子技术》2020年第2期106-109,114,共5页Modern Electronics Technique

基　　金：国家自然科学基金（51809028）;中央高校基本科研业务费专项资金(3132016311)

摘　　要：针对宽水域多船避碰过程中路径规划难与航行规则结合的问题,提出一种分步多船避碰路径规划算法。首先将障碍船视为静态障碍物,利用极坐标空间的粒子群路径规划算法结合船舶安全领域进行静态路径规划,得到船舶避碰转向点;然后利用航行规则对转向点的转向角度进行动态修正。通过对算法进行仿真验证,能够很好地解决多船避碰路径规划的问题,为解决多船避碰问题提供一种新的思路。A stepwise multi⁃ship collision avoidance path planning algorithm is proposed to solve the problem that the route planning is difficult to combine with the navigation rules in the process of multi⁃ship collision avoidance in wide water area.Firstly,the obstacle ship is regarded as the static obstacle,and the static path planning is performed in combination with the field of ship safety and by means of the particle swarm route planning algorithm in polar coordinate space,so as to obtain the collision avoidance steering point.The turning angle of the steering point is modified dynamically by the navigation rules.The simulation results show that this algorithm can conduct the path planning of multi⁃ship collision avoidance,and provide a new idea for the solution of multi⁃ship collision avoidance.

关 键 词：多船避碰 粒子群 安全领域 路径规划 航行规则 仿真验证 

分 类 号：TN850.6-34[电子电信—信息与通信工程] U664[交通运输工程—船舶及航道工程]