面向智能航行避碰决策与规划的虚拟仿真测试技术研究  

Research on Virtual Simulation Testing Technology for Intelligent Navigation Collision Avoidance Decision-making and Planning

作　　者：刘佳仑[1,2,4] 杨帆[3,4] 谢玲利 李诗杰 王腾飞[3,4] Liu Jialun;Yang Fan;Xie Lingli;Li Shijie;Wang Tengfei(Hubei Longzhong Laboratory,Wuhan University of Technology Xiangyang Demonstration Zone,Xiangyang 441000,China;State Key Laboratory of Maritime Technology and Safety,Wuhan University of Technology,Wuhan 430063,China;School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China;Intelligent Transportation Systems Research Center,Wuhan University of Technology,Wuhan 430063,China;Hong Feng Control Company Limited of San Jiang Astronautics,Xiaogan 432000,China)

机构地区：[1]湖北隆中实验室武汉理工大学襄阳示范区,湖北襄阳441000 [2]武汉理工大学水路交通控制全国重点实验室,湖北武汉430063 [3]武汉理工大学交通与物流工程学院,湖北武汉430063 [4]武汉理工大学智能交通系统研究中心,湖北武汉430063 [5]湖北三江航天红峰控制有限公司,湖北孝感432000

出　　处：《系统仿真学报》2024年第8期1780-1789,共10页Journal of System Simulation

基　　金：国家重点研发计划(2022YFB4301402);国家自然科学基金(52272425);海洋工程全国重点实验室(上海交通大学)开放基金(GKZD010089)。

摘　　要：研究了面向智能航行避碰决策与规划的虚拟仿真测试技术。介绍了智能航行在货运船舶中的应用需求,分析了当下避碰决策策略、路径规划算法以及避碰决策与规划测试技术的研究现状。面向货运船舶智能航行避碰决策与规划能力,基于避碰规则中的会遇态势划分,结合四元船舶领域和贝塞尔曲线插值理论,提出了一种智能航行避碰决策与规划算法。构建了一种基于虚拟仿真环境的避碰决策与规划算法仿真测试方法,通过AIS(automatic identification system)模拟器模拟目标船的状态数据,结合船载综合导航系统(integrated navigation system,INS)实现了避碰决策与规划算法的测试。通过复杂水域仿真测试验证了所提算法的有效性和可行性,为货运船舶智能航行功能的开发与实践提供了参考。This paper studies virtual simulation testing technology for intelligent navigation collision avoidance decision-making and planning.The application requirements of intelligent navigation in cargo ships are introduced,and the current research status of collision avoidance decision-making strategies,path planning algorithms and decision-making planning testing technology are analyzed.For the intelligent navigation collision avoidance decision-making and planning capabilities of cargo ships,an intelligent navigation collision avoidance decision-making and planning algorithm is proposed based on the encounter situation division in the collision avoidance rules,combined with the quaternary ship field and Bezier curve interpolation theory.A simulation testing method for decision-making planning algorithms based on virtual simulation environment was constructed.The AIS(automatic identification system)simulator is used to simulate the status data of the target ship,and combined with the shipboard INS(integrated navigation system),the decision-making planning algorithm is tested.The effectiveness and feasibility of the proposed algorithm are verified through complex water simulation tests,which provides an important reference for the development and practice of intelligent navigation functions for cargo ships.

关 键 词：智能航行 避碰决策 路径规划 虚拟仿真 测试技术 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]