复杂环境下船舶慢速域自主航行决策方法  

Autonomous navigation decision-making method for ships in slow-speed domain under complex environment

作　　者：赵兴亚 贺益雄[1,2] 黄立文[1,2] 牟军敏[1,2] ZHAO Xingya;HE Yixiong;HUANG Liwen;MOU Junmin(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]武汉理工大学航运学院,湖北武汉430063 [2]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：《华中科技大学学报（自然科学版）》2024年第3期113-120,共8页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家重点研发计划资助项目(2019YFB1600603,2020YFE0201200);国家自然科学基金资助项目(52071249)。

摘　　要：为解决复杂环境下船舶慢速域自主航行决策问题,提出符合避碰规则、良好船艺和操纵特性的可变速自主航行决策方法.在分离型运动模型中增加推力随转速和航速变化的影响因子,提出船舶慢速域操纵运动模型和自适应最优航向控制方法,精确预测船舶操纵运动过程.将改进的速度算法与基于定量COLREGs的四阶段理论相结合,提出了一种适用于多船复杂会遇局面、兼顾变速和变向策略的慢速域自主航行决策方法.仿真结果表明:所提出的方法能在多船会遇场景下提供有效精确的自主航行决策方案,能安全避让所有目标并及时跟踪计划航线.In order to solve the problem of autonomous navigation decisions in a complex environment for ships operated in lowspeed,a variable-speed autonomous navigation decision-making method was presented based on“International Regulations for Preventing Collisions at Sea”(COLREGs),ship manoeuvrability characteristics and good seamanship.The factor of thrust variation with rotation per minute of propeller and ship speed was added to the improved mathematical model group(MMG).The ship manoeuvring motion model in slow-speed domain and the adaptive optimal course control method were proposed to accurately predict the ship's manoeuvring motion process.An autonomous navigation decision-making method for complex multi-ship encounter scenarios was presented by combining the improved velocity algorithm and four-stage theory based on quantitative COLREGs,which provides two collision avoidance strategies:changing speed and altering course.The simulation shows that the proposed method can present effective and precise autonomous navigation decisions in the multi-ship environment,which are collision-free and able to track planned route timely.

关 键 词：自主航行 避碰规则 改进速度障碍 多船避碰 可变速MMG 

分 类 号：U675.96[交通运输工程—船舶及航道工程]