基于改进人工势场法的船舶自动避碰研究  

Research on ship automatic collision avoidance based on improved artificial potential field method

作　　者：宁君[1] 李学健 李伟[1] 刘正江[1] NING Jun;LI Xue-jian;LI Wei;LIU Zheng-jiang(Navigation College,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《舰船科学技术》2021年第12期59-64,154,共7页Ship Science and Technology

基　　金：国家自然科学基金资助项目(51939001,61976033,U1813203,61803064);中央高校基本科研业务费专项资金资助(3132021135)。

摘　　要：为解决传统人工势场法在船舶自动避碰中无法判断避让责任和紧迫局面的问题,创新性地将船舶会遇态势及危险度评价指标引入人工势场中,通过船舶之间相对方位来判断船舶的避让责任并限定避让措施,通过实时计算船舶碰撞危险度,设定相应阈值来界定是否产生紧迫局面,指导船舶采取进一步避让措施。通过对船舶对遇、交叉相遇和追越3种典型局面的仿真实验表明,本文所设计的势场能够较为清晰地判断避让责任和紧迫局面,所规划的船舶避让措施更加符合国际海上避碰规则的要求。In order to solve the problem that the traditional artificial potential field method cannot judge the avoidance responsibility and the urgent situation in the automatic collision avoidance of ships, innovatively introduce the situation of ship encounter and the evaluation index of danger into the artificial potential field, and judge by the relative position between ships. The ship’s avoidance responsibilities and limit the avoidance measures, through real-time calculation of the risk of collision of the ship, set corresponding thresholds to define whether an urgent situation occurs, and guide the ship to take further avoidance measures. The simulation experiments on three typical situations of head-on, crossing and overtaking show that the potential field designed in this paper can clearly determine the responsibility for avoidance and the urgent situation,and the planned ship avoidance measures are more in line with the requirements of International Regulations for Preventing Collisions at Sea.

关 键 词：人工势场 船舶碰撞危险度 避让责任 紧迫局面 

分 类 号：U675.96[交通运输工程—船舶及航道工程]