欠驱商船的自主靠泊轨迹规划研究  

Research on autonomous berthing trajectory planning of underdriven merchant ships

作　　者：李永正[1] 陈怡 白旭[1] 张海华[2] 杨立[2] 许凯玮 张茜 赵师纬 LI Yongzheng;CHEN Yi;BAI Xu;ZHANG Haihua;YANG Li;XU Kaiwei;ZHANG Qian;ZHAO Shiwei(School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,Zhenjiang 212100,China;Shanghai Branch,China Ship Scientific Research Center,Shanghai 200011,China)

机构地区：[1]江苏科技大学船舶与海洋工程学院,镇江212100 [2]中国船舶科学研究中心上海分部,上海200011

出　　处：《江苏科技大学学报（自然科学版）》2024年第1期1-6,35,共7页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：广东省重点领域研发计划项目(2020B1111500001-04)。

摘　　要：针对大型商船在自主靠泊时的轨迹规划任务,分别考虑远码头轨迹规划和码头末端镇定靠泊两部分.基于大型船舶自身特点及限制等多约束分析的分阶段路径规划方法,完成面向大型商船自主靠泊的轨迹规划任务.考虑大型商船自身体型较大,低速运动时船舶的舵效和实船操纵性能差等难题,提出大型船舶自身限制等多约束分析的人工势场法,改进传统人工势场法中存在引力过大、目标不可达的问题.同时考虑镇定阶段船舶自身及泊位信息对船舶艏向和速度的约束,绘制舵角的输出变化曲线,并进行航迹规划,为商船选择合适的航线进行靠泊提供了理论依据.Aiming at the trajectory planning task of large-scale commercial ships in autonomous berthing and considering the far terminal trajectory planning stage and stable berthing at the end of the terminal respectively,a phased path planning method based on multi constraint analysis such as the characteristics and limitations of large-scale ships is proposed to complete the trajectory planning task for large-scale commercial ships in autonomous berthing.In view of the large size of large merchant ships and the poor steering efficiency and maneuverability of real ships when moving at low speed,an artificial potential field method based on multi constraint analysis such as large ship's own constraints is proposed to improve the problems of excessive gravity and unreachable target in the traditional artificial potential field method.In addition,considering the constraints of the ship itself and the berth information on the ship heading and speed in the stabilization stage,the output change curve of the rudder angle and the track planning are drawn on this basis,which provides a theoretical basis for the merchant ship to choose the appropriate route for berthing.

关 键 词：自主靠泊 欠驱 人工势场法 商船 

分 类 号：U664.82[交通运输工程—船舶及航道工程]