开阔水域直航船自主避碰决策方法  

Decision Method of Autonomous Collision Avoidance for Stand-on vessels in Open Waters

作　　者：贺益雄[1,2] 李丽玲 胡惟璇 牟军敏[1,2] HE Yixiong;LI Liling;HU Weixuan;MOU Junmin(School of Navigation, Wuhan University of Technology, Wuhan 430063, China;Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China;Wuhan Technical College of Communications, Wuhan 430065, China)

机构地区：[1]武汉理工大学航运学院,武汉430063 [2]内河航运技术湖北省重点实验室,武汉430063 [3]武汉交通职业学院,武汉430065

出　　处：《武汉理工大学学报（交通科学与工程版）》2021年第5期994-999,共6页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家重点研发计划(2019YFB1600603);国家自然科学基金面上项目(52071249);江苏省交通科技重大专项(2018Z01)。

摘　　要：为解决开阔水域自主航行直航船避碰行动决策问题,总结避碰规则和良好船艺要求,建立船舶操纵运动、航向控制模型仿真转向运动,在航向控制系统环境下解析局面要素的物理含义、构建量化模型和算法,提出了各态势下直航船避碰行动时机和方案选择方法.仿真表明,可基于会遇态势实时、自适应地进行决策.In order to solve the decision-making problem of collision avoidance action for stand-on vessels sailing autonomously in open waters,the collision avoidance rules and requirements of good ship skills were summarized,and the ship steering motion and course control models were established to simulate the steering motion.Under the heading control system environment,the physical meaning of the situation elements was analyzed,the quantitative model and algorithm were constructed,and the collision avoidance action timing and scheme selection methods of stand-on vessels under various situations were put forward.The simulation shows that the decision can be made in real time and adaptively based on the encounter situation.

关 键 词：直航船 自主避碰决策 规则量化 避碰行动时机和方案 

分 类 号：U676.1[交通运输工程—船舶及航道工程]