基于改进海洋捕食者算法的无人船避碰方法  

Method of USV collision avoidance based on improved marine predator algorithm

作　　者：张荣翔 戴永寿[2] 李立刚[2] 金久才 ZHANG Rongxiang;DAI Yongshou;LI Ligang;JIN Jiucai(College of Control Science and Engineering,China University of Petroleum(East China),Qingdao 266580,China;College of Ocean and Space Information,China University of Petroleum(East China),Qingdao 266580,China;Laboratory of Marine Physics and Remote Sensing,First Institute of Oceanography,Ministry of Natural Resources,Qingdao 266061,China)

机构地区：[1]中国石油大学(华东)控制科学与工程学院,山东青岛266580 [2]中国石油大学(华东)海洋与空间信息学院,山东青岛266580 [3]自然资源部第一海洋研究所海洋物理与遥感研究室,山东青岛266061

出　　处：《现代电子技术》2023年第5期119-125,共7页Modern Electronics Technique

基　　金：国家重点研发计划(2017YFC1405203);中央高校基本科研业务费专项资助(19CX05003A-1)。

摘　　要：为提高无人船局部动态避障的规范性、安全性和经济性,提出一种基于改进海洋捕食者算法的无人船避碰决策方法。首先,根据无人船运动约束、避免碰撞约束与避碰规则约束限定避碰决策的搜索空间;其次,以船舶碰撞的危险程度和航程损失为指标建立避碰目标函数;最后,提出基于种群更新成功率的改进海洋捕食者算法,求取约束范围内的最优避碰决策。仿真实验结果表明:所提方法最优个体适应度曲线在30次迭代内都能稳定收敛,且其最优值最小,优于其余智能算法,具有一定有效性。In order to improve the standardization,safety and economy of local dynamic obstacle avoidance of unmanned surface vehicle(USV),an USV collision avoidance decision-making method based on improved marine predator algorithm is proposed. The search space of collision avoidance decision is limited according to the motion constraints,collision avoidance constraints and collision avoidance rules constraints of USV. The objective function of collision avoidance is established based on the risk degree of ship collision and voyage loss. An improved marine predator algorithm based on the success rate of population updating is proposed to obtain the optimal collision avoidance decision within the constraint range. The simulation experimental results show that the optimal individual fitness curve of the proposed method can converge stably in 30 iterations,and its optimal value is the minimum,which is superior to other intelligent algorithms and has a certain effectiveness.

关 键 词：无人船 船舶避碰 避碰规划 海洋捕食者算法 全局优化算法 航行规则 仿真验证 

分 类 号：TN911.1-34[电子电信—通信与信息系统] U675.96[电子电信—信息与通信工程]