基于模型预测控制的船舶自主避碰方法  

A Method for Ship Autonomous Collision Avoidance Based on Model Predictive Control

作　　者：谢鸿伟 张英俊[1] 邢胜伟[1] 高宗江[1] XIE Hongwei;ZHANG Yingjun;XING Shengwei;GAO Zongjiang(Navigation College,Dalian Maritime University,Dalian 116026,Liaoning,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《船舶工程》2021年第8期23-28,95,共7页Ship Engineering

基　　金：国家重点研发计划资助项目(2018YFB1601502);辽宁省航运联合基金(2020-HYLH-27);中央高校基本科研业务费(3132020127);辽宁省“兴辽英才计划”项目资助(XLYC1902071)。

摘　　要：针对海上多船会遇情况下的船舶自主避碰问题,提出一种基于船舶运动数学模型的开阔水域船舶自主避碰方法。该方法利用模型预测控制(MPC)算法,在考虑船舶操纵性和避碰规则的条件下,采用模糊数学理论分析船舶航行过程中的碰撞危险度,进而构建避碰算法的评价函数,实现船舶自主避碰。仿真结果表明,该算法能解决开阔水域多船会遇情况下的船舶自主避碰问题,验证了算法的有效性。Aiming at the problem of ship's autonomous collision avoidance in the case of multiple ships encountering at sea,a ship autonomous collision avoidance method based on the MMG(Maneuvering Mathematical Model Group)ship motion mathematical model in open water is proposed.With the consideration of ship maneuverability and collision avoidance rules,using MPC(Model Predictive Control)algorithm,the collision risk during ship navigation is analyzed by fuzzy mathematics theory,and then the cost function of the collision avoidance algorithm is constructed to realize ship's autonomous collision avoidance.The simulation results show that the algorithm can solve the problem of autonomous ship collision avoidance in the case of multiple ships encountering in open water,which verifies the validity of the algorithm.

关 键 词：船舶运动数学模型 模型预测控制 船舶避碰 碰撞危险度 

分 类 号：U676.1[交通运输工程—船舶及航道工程]