基于航迹推演的船舶动态智能避碰方法  

Dynamic intelligent collision avoidance method based on trajectory prediction

作　　者：张可[1,3] 黄立文[2,3] 贺益雄[2,3] 赵兴亚[2,3] 陈家豪 黄卫国 ZHANG Ke;HUANG Liwen;HE Yixiong;ZHAO Xingya;CHEN Jiahao;HUANG Weiguo(China Waterborne Transport Research Institute,Beijing 100088,China;School of Navigation,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]交通运输部水运科学研究院,北京100088 [2]武汉理工大学航运学院,湖北武汉430063 [3]武汉理工大学内河航运技术湖北省重点实验室,湖北武汉430063

出　　处：《中国航海》2023年第4期20-29,共10页Navigation of China

基　　金：国家重点研发计划项目(2019YFB1600603);国家自然科学基金面上项目(52071249)。

摘　　要：针对受限水域船舶动态智能避碰问题,将航迹预测与改进速度障碍相结合,提出一种船舶动态智能避碰方法。建立两船相对运动模型并实时计算船舶避碰运动参数,基于三自由度船舶操纵运动数学(MMG)模型和Kalman滤波算法分别预测本船(OS)和目标船(TS)下一时刻运动状态;然后结合《国际海上避碰规则》(简称《规则》)、良好船艺、航迹预测模型、速度障碍算法和航向控制系统等分析设计船舶动态智能避碰决策模型;通过仿真试验验证动态智能避碰决策模型的可行性和有效性。结果表明:该算法可满足受限水域两船和多船复杂会遇局面下船舶智能避碰,实现动态避碰条件下的船舶安全航行。The track prediction in junction with improved velocity obstacle is combined introduced into dynamic intelligent collision avoidance calculation to accomplish the intelligent collision avoidance in restrained waterways.The model of relative motion between two ships is built and the collision avoidance motion parameters of the ships are calculated in real time.The motion states of OS(Own Ship)and the TS(Target Ship)at subsequent moment are predicted by using the 3D MMG(Maneuvering Modeling Group)model and Kalman filtering.The above process in conjunction with rules of Convention on the International Regulations for Preventing Collisions at Sea and good seamanship altogether form the complete dynamic intelligent avoidance algorithm.The algorithm is verified through simulations.

关 键 词：智能避碰 速度障碍 《国际海上避碰规则》 航迹预测 船舶运动模型 

分 类 号：U675.96[交通运输工程—船舶及航道工程]