基于改进速度障碍模型的船舶动态避碰决策方法研究  

Research on Dynamic Ship Collision Avoidance Decision Based on Improved Velocity Obstacle

作　　者：袁晓丽[1,2] 姜晓晗 张明扬 YUAN Xiao-li;JIANG Xiao-han;ZHANG Ming-yang(School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学交通与物流工程学院,武汉430063 [2]内河航运技术湖北省重点实验室,武汉430063

出　　处：《武汉理工大学学报》2024年第8期152-160,共9页Journal of Wuhan University of Technology

基　　金：内河航运技术湖北省重点实验室基金(NHHY 2022002)。

摘　　要：为了提升船舶航行决策安全性与经济性,提出了一种基于改进速度障碍模型的避碰决策方法。首先,根据船舶的机动性约束建立船舶速度障碍区与可行速度空间。然后,建立了考虑目标趋向性、碰撞风险、速度改变量和避碰规则的目标函数,以实现基于最优避碰速度选取的船舶运动规划。最后,通过仿真验证了该方法的可行性。结果表明,该方法能够实现同时考虑航行安全性和经济性的船舶运动规划。To enhance the safety and cost-effectiveness of ship navigation decisions,a collision avoidance decision-making method based on improved velocity obstacle model is proposed.Firstly,ship velocity obstacle zones and feasible velocity spaces considering maneuverability constraints are established.Then,an objective function considering target orientation,collision risk,velocity changes,and collision avoidance rules is formulated to achieve ship motion planning based on optimal collision avoidance speeds.Finally,the feasibility of the proposed method is validated through simulation experiments.The results indicate that this method can achieve ship motion planning considering both safety and cost-effectiveness.

关 键 词：速度障碍模型 运动规划 避碰决策 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]