船舶航行非线性规避碍航物航线方法研究  

Study on Nonlinear Obstacle Avoidance Route Methodfor Ship Navigation

作　　者：李成海[1] 胡甚平[2] 崔建辉[3] 王建涛[1] LI Cheng-hai;HU Shen-ping;CUI Jian-hui;WANG Jian-tao(School of Nautical Sciences,Shandong Transport Vocational College,Weifang 261206,China;Merchant Marine College,Shanghai Maritime University,Shanghai 201306,China;College of Nautical Sciences,Tianjin University of Technology,Tianjin 300191,China)

机构地区：[1]山东交通职业学院航海学院,山东潍坊261206 [2]上海海事大学商船学院,上海201306 [3]天津理工大学航海学院,天津300191

出　　处：《江苏航运职业技术学院学报》2023年第4期30-34,共5页Journal of Jiangsu Shipping College

基　　金：国家重点研发计划项目(2021YFC2801000);国家重点研发计划项目(2019YFB1600602)。

摘　　要：传统的航行船舶规避碍航物航线预估方法针对范围小,对于碍航物小目标预估准确率低或遗漏小目标,不利于航行船舶的安全。针对上述问题,提出了基于非线性条件模型的航行船舶规避碍航物航行航线预估方法。根据航行船舶规避碍航物预估具有非线性的特性,首先构建航行船舶规避碍航物航行航线非线性条件下初始模型,根据条件模型变量之间的关系,定义规避碍航物条件模型;然后对规避碍航物非线性条件模型进行规避碍航物航行航线程序计算;最后通过实验验证的数据分析,进一步证明了该研究方法能够提高对范围小、碍航物小目标的预估准确率,防止遗漏小目标,对保障航行船舶安全具有较强的现实意义。Traditional route prediction method for navigating ships to avoid obstacles covers a small range,and the accuracy of small obstacle targets’prediction is low or small targets are missed,which is adverse to ships’safe navigation.In order to solve the above-mentioned problem,a nonlinear conditional model obstacle avoidance route prediction method is proposed.Based on the nonlinear characteristics of a navigational ship obstacle voidance estimation,firstly an initial model under the nonlinear condition for vessel obstacle avoidance route method is constructed,and the conditional model of obstacle avoidance is defined according to the relationship between the variables of the conditional model;then,the calculation of obstacle avoidance route procedure for nonlinear conditional model is carried out;and finally,through the analysis of the data of experimental validation,it is further proved that the method of the present study is able to improve the accuracy of navigational route estimation for small range and small targets and prevent the omission of small targets,which is of major significance for ensuring ship’s safe navigation.

关 键 词：航行船舶 非线性条件模型 规避碍航物 航行航线预估 

分 类 号：U664.82[交通运输工程—船舶及航道工程]