智能船舶的反应型避碰规划  

Reactive Collision Avoidance Planning for Intelligent Ships

作　　者：邓乃铭 许劲松[1] 邓德衡[1] DENG Naiming;XU Jinsong;DENG Deheng(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》2020年第9期115-121,共7页Ship Engineering

摘　　要：对于多船会遇场景而言,在反应型避碰规划中考虑操船者意图具有明显的优越性,可在紧迫局面下更合理地执行《1972年国际海上避碰规则》(即COLREGs)的背离规则。对此,提出一种基于隐马尔可夫模型的操船意图预报方法,将生成的目标船意图预报结果与经典速度障碍法相融合,产生更合理的碰撞危险评估结果,据此建立的反应型避碰规划算法比经典速度障碍法更安全。依托案例三体船成功完成的自主避碰试验,验证了所提改进算法的有效性、可靠性和实时性,对智能船舶自主避碰系统的深化研究具有借鉴意义。In multi-ship encounter situations,consideration of the target ship intention in reactive collision avoidance planning has the superior advantages,which could implement the departure rules of"International Regulations for Preventing Collisions at Sea,1972"(COLREGs)more reasonably under urgent situation.Aiming at it,a ship operating intention prediction method based on Hidden Markov Model is proposed.The prediction results of target ship intention are combined with classical Velocity Obstacle method to form the improved collision risk evaluation.The reactive collision avoidance planning algorithm established accordingly is safer than the classical Velocity Obstacle method.Successful on-water tests of autonomous collision avoidance with the case trimaran demonstrate the effectiveness,reliability and real-time performance of the proposed algorithm,which is valuable for further research on autonomous collision avoidance of intelligent ships.

关 键 词：智能船舶 反应型避碰规划 多船会遇场景 操船意图预报 碰撞危险评估 

分 类 号：U661.31[交通运输工程—船舶及航道工程]