基于可拓云理论的船舶避碰算法避让性能评价方法研究  

Research on the Avoidance Performance Evaluation Method of Ship Collision Avoidance Algorithm Based on Extension Cloud Theory

作　　者：李万里 袁志涛[1,2] 郑凯 吴晓烈 王伟强 LI Wan-li;YUAN Zhi-tao;ZHENG Kai;WU Xiao-lie;WANG Wei-qiang(School of Navigation,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学航运学院,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10期121-131,共11页Journal of Wuhan University of Technology

基　　金：国家自然科学基金(52031009)。

摘　　要：船舶避碰是智能船舶研究的核心,客观评价避碰算法的避让性能更是其关键环节。针对船舶避碰算法测试评价不准确、不全面的问题,构建了基于可拓云理论的船舶避碰算法避让性能评价方法。基于《国际海上避碰规则》构建了船舶避碰算法避让性能评价指标体系,运用层次分析法和熵权法组合的方法,确定了船舶避碰算法性能评价的指标综合权重,进一步建立了船舶避碰算法性能评价标准云物元模型,并通过云关联度计算的方法确定了算法性能等级。最后,基于蒙特卡洛思想随机生成大量会遇场景对不同算法避让性能进行评估,并对评估结果进行验证。结果表明:提出的方法能较准确可靠评估避碰算法的避让性能,能够反映不同算法应用于不同会遇局面的优劣。Ship collision avoidance is the core of intelligent ship research,and the objective evaluation of the avoidance performance of collision avoidance algorithms is its key link.Aiming at the problem of inaccurate and incomplete evaluation of ship collision avoidance algorithms,a method for evaluating the avoidance performance of ship collision avoidance algorithms based on the theory of topological cloud is constructed.Based on the International Regulations for Collision Avoidance at Sea,a ship collision avoidance algorithm avoidance performance evaluation index system is constructed,and the combined method of hierarchical analysis and entropy weighting is used to determine the comprehensive weights of the indicators for ship collision avoidance algorithm performance evaluation,and further establish the standard cloud object element model for ship collision avoidance algorithm performance evaluation,and determine the algorithm performance level by the method of cloud correlation calculation.Finally,a large number of encounter scenarios are randomly generated based on Monte Carlo ideas to evaluate the avoidance performance of different algorithms,and the evaluation results are verified.The results show that the proposed method can evaluate the avoidance performance of collision avoidance algorithms more accurately and reliably,and can reflect the advantages and disadvantages of different algorithms applied to different encounter situations.

关 键 词：船舶避碰 评价指标体系 可拓云 AHP法 熵权法 

分 类 号：U675.96[交通运输工程—船舶及航道工程]