基于漂角估计的无人船智能避碰方法  

Intelligent Collision Avoidance Method for Unmanned Ship Based on Sideslip Angle Estimation

作　　者：张荣翔 戴永寿[1] 李立刚[1] 金久才 ZHANG Rongxiang;DAI Yongshou;LI Ligang;JIN Jiucai(China University of Petroleum(East China),Qingdao 266580;First Institute of Oceanography,Ministry of Natural Resources,Qingdao 266061)

机构地区：[1]中国石油大学(华东),青岛266580 [2]自然资源部第一海洋研究所,青岛266061

出　　处：《舰船电子工程》2023年第12期65-70,90,共7页Ship Electronic Engineering

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

摘　　要：为提高无人船局部动态避碰的经济性、安全性和规范性。提出基于改进海洋捕食者算法的无人船避碰决策方法。首先,根据无人船避碰需求建立船舶避碰问题模型。然后,提出基于种群更新成功率的改进海洋捕食者算法,求取最优避碰决策。最后,考虑海洋扰动,提出利用横向位置误差与姿态数据估计漂角,并在无人船的航向上进行补偿。仿真实验结果验证了所提方法的有效性。In order to improve the regularity,safety and stability of unmanned surface vehicle's local dynamic obstacle avoid⁃ance,an algorithm for unmanned ships collision avoidance decision based on improved Marine Predators Algorithm is proposed.First of all,the model of collision avoidance is established with requirements of collision avoidance.Finally,an improved marine predators algorithm based on the success rate of particles is proposed to find the optimal collision avoidance decision.The simulation experiment results verify the effectiveness of the proposed method.

关 键 词：船舶避碰 避碰规划 海洋捕食者算法 

分 类 号：U675.96[交通运输工程—船舶及航道工程]