基于网络感知信息的船舶航迹规划智能避障方法  

Intelligent obstacle avoidance method for ship track planning based on network perception information

作　　者：黄磊[1] 李慧 张媛[1] HUANG Lei;LI Hui;ZHANG Yuan(China University of Mining and Technology Yinchuan,Information Engineering College,Yinchuan 750021,China;Jiangsu Ocean University,Computer Science and Technology College,Lianyungang 222000,China)

机构地区：[1]中国矿业大学银川学院信息工程学院,宁夏银川750021 [2]江苏海洋大学计算机工程学院,江苏连云港222000

出　　处：《舰船科学技术》2022年第3期71-74,共4页Ship Science and Technology

基　　金：宁夏自治区级教改项目(NXJG2017087)。

摘　　要：为实现智能避障,确保船舶航行安全,设计基于网络感知信息的船舶航迹规划智能避障方法。高效感知船舶本身及附近环境信息,精准获取船舶本身及附近船舶位置信息。依据位置信息构建船舶航迹规划中碰撞危险度模型,判断本船是否存在碰撞危险。若存在碰撞危险,则采用模糊神经网络智能控制船舶航行方向完成智能避障。试验结果表明:该方法可精准感附近信息,在简单与复杂航迹环境下均能够实现智能避障;本船与附近船舶距离高于安全距离,船航向角变化曲线平稳、无抖动情况,确保船舶航行安全。In order to realize intelligent obstacle avoidance and ensure the safety of ship navigation,an intelligent obstacle avoidance method for ship track planning based on network sensing information is designed.Efficiently perceive the information of the ship itself and its surrounding environment,and accurately obtain the location information of the ship itself and its surrounding ships;According to the position information,the collision risk model in ship track planning is constructed to judge whether the ship has collision risk;If there is a collision risk,the fuzzy neural network is used to intelligently control the ship navigation direction to complete the intelligent obstacle avoidance.Experiments show that this method can accurately sense the nearby information and realize intelligent obstacle avoidance in both simple and complex track environments;The distance between the ship and nearby ships is higher than the safe distance,and the change curve of ship heading angle is stable without jitter,so as to ensure the safety of ship navigation.

关 键 词：网络感知信息 船舶航迹规划 智能避障 传感器 危险度模型 模糊神经网络 

分 类 号：U675.96[交通运输工程—船舶及航道工程]