基于动态分阶势场法的船舶自动避碰系统  

An automatic collision avoidance system of ships based on dynamic hierarchical potential field method

作　　者：罗贤程 尹建川[1] 李宏宾 LUO Xiancheng;YIN Jianchuan;LI Hongbin(Navigation College,Dalian Maritime University,Dalian 116026,Liaoning,China)

机构地区：[1]大连海事大学航海学院

出　　处：《上海海事大学学报》2020年第1期1-7,共7页Journal of Shanghai Maritime University

基　　金：国家自然科学基金(51879024);辽宁省自然科学基金(20180520034)

摘　　要：为使船舶在多船避让环境下适应航行环境的变化并自动复航,提出基于动态分阶势场法的船舶自动避碰系统。该系统基于动态势场避障规划算法,利用模糊综合评价法量化船舶碰撞危险度;依据《国际海上避碰规则》确定本船在不同会遇局面下的避让行动,并据此对斥力势函数进行调整。该系统将本船的避碰过程划分为航迹保持、避让和复航3个阶段,根据不同阶段的要求构建动态分阶势场;利用动态分阶势场法对船舶的航行环境进行建模,进而生成恰当的航向指令;利用自动舵产生舵角指令控制船舶完成避让、复航和航迹保持。仿真结果表明:该自动避碰系统可以引导船舶完成既定的避让行动,并能使船舶在安全会遇距离上驶过;该系统可以适应航行环境的变化,且具备航迹保持能力。To make a ship adapt to the change of navigation environment and go back to the channel automatically under the multi-ship avoidance environment,an automatic collision avoidance system of ships is proposed based on the dynamic hierarchical potential field method.The system is based on the dynamic potential field obstacle avoidance planning method,and the fuzzy comprehensive evaluation method is adopted to quantify ship collision risk;the avoidance actions of an own ship under different encounter situations are determined according to the International Regulations for Preventing Collisions at Sea,and the repulsive potential function is adjusted accordingly.The collision avoidance process of the own ship is divided into three stages:track keeping,avoidance,and track restoration,and the dynamic hierarchical potential field is built according to the requirements for different stages;the dynamic hierarchical potential field method is used to model the ship navigation environment so as to generate the appropriate heading command;the autopilot is used to generate the rudder angle commands to control the ship to complete the avoidance,track restoration,and track keeping.The simulation results demonstrates that:the automatic collision avoidance system can guide the ship to complete the determined avoidance action,and make the ship pass with keeping a safe distance of approach;it also has the adaptability to the changing navigation environment,and has track keeping ability.

关 键 词：动态分阶势场法 船舶碰撞危险度 船舶自动避碰 航迹保持 

分 类 号：U675.96[交通运输工程—船舶及航道工程]