一种有效顾及复杂海域避碰的路径规划方法  

A path planning method for collision avoidance of ships in complex sea areas

作　　者：张立华[1,2] 周寅飞 贾帅东[1,2] 蔡烽[3] 戴泽源 袁浩 ZHANG Lihua;ZHOU Yinfei;JIA Shuaidong;CAI Feng;DAI Zeyuan;YUAN Hao(Department of Military Oceanography and Hydrography&Cartography,Dalian Naval Academy,Dalian 116018,China;Key Laboratory of Hydrographic Surveying and Mapping of PLA,Dalian Naval Academy,Dalian 116018,China;Department of Navigation,Dalian Naval Academy,Dalian 116018,China)

机构地区：[1]海军大连舰艇学院军事海洋与测绘系,辽宁大连116018 [2]海军大连舰艇学院海洋测绘工程军队重点实验室,辽宁大连116018 [3]海军大连舰艇学院航海系,辽宁大连116018

出　　处：《哈尔滨工程大学学报》2023年第1期56-64,共9页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(41871369,41901320,42071439)。

摘　　要：针对现有舰船避碰路径规划方法难以适用于复杂海域的现状,本文提出一种有效顾及复杂海域避碰的路径规划方法。首先,通过K-means方法将舰船避碰阶段选用合理的危险度判别指标进行划分;然后,依据Nomoto模型进行航迹推演,预测舰船在一定时间分辨率后的航迹;接着,在避碰阶段中剔除具有碰撞危险和不符合此阶段避碰规则的预测航迹,并在余下的预测航迹中选取危险度最小的航迹作为最优预测航迹;最后,在正常航行阶段建立遴选函数,选取最优预测航迹,将所有最优预测航迹合成以生成路径。实验结果表明:相对于当前先进的改进人工势场方法来说,所提方法在只有点状碍航区的较简单环境下可有效提升规划效率;所提方法在有各类碍航区的较复杂海域,能顾及来船的航向变化,规划出遵循国际海上避碰规则的避碰路径。At present,applying the existing path planning methods of collision avoidance of ships to complex sea areas is difficult.This paper presents a path-planning method that effectively considers collision avoidance in complex sea areas.First,the K-means method is used to divide the collision avoidance of ships into different stages with a reasonable risk discrimination index.Second,the track deduction is conducted in accordance with the Nomoto model to predict the track of the ships after a certain time.The predicted tracks with collision risk and violation of the collision avoidance rules in the collision avoidance stage are eliminated,and the track with the lowest risk is selected as the optimal predicted track in the other predicted tracks;Finally,the selection function is established in the normal navigation stage to select the optimal predicted track,and all the optimal predicted tracks are composed to generate the path.Experimental results show the following.1)Compared with the current advanced improved artificial potential field method,the proposed method can effectively improve the efficiency of planning in a simple environment with a spot obstruction area.2)The proposed method can consider the course change of incoming ships and plan the collision avoidance path in line with the International Regulations for Preventing Collisions at Sea(COLREGS)in remarkably complex sea areas with various navigation obstruction areas.

关 键 词：路径规划 复杂海域 避碰 危险度评价 国际海上避碰规则 舰船 动态路径规划 动力学 

分 类 号：P229[天文地球—大地测量学与测量工程] U697.1[天文地球—测绘科学与技术]