考虑会遇态势辨识不确定性的多船避碰方法  

Multi-ship Collision Avoidance Method Considering the Uncertainty of Situation Identification

作　　者：车琪 徐海祥[1,2] 冯辉[1,2] 汪咏 CHE Qi;XU Haixiang;FENG Hui;WANG Yong(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China;Key Laboratory of High Performance Ship Technology,Wuhan University of Technology,Ministry of Education,Wuhan 430063,China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,武汉430063 [2]高性能船舶技术教育部重点实验室(武汉理工大学),武汉430063

出　　处：《武汉理工大学学报(交通科学与工程版)》2025年第1期66-73,共8页Journal of Wuhan University of Technology(Transportation Science & Engineering)

基　　金：国家自然科学基金(51879210,52371374)。

摘　　要：文中提出一种考虑个体间不确定性的船舶会遇态势辨识策略和改进的多船避碰方法.根据海事规则与良好船艺,划分船舶会遇方位图;采用区间二型模糊逻辑构建辨识模型,完成交叉相遇和对遇局面划分不清晰区域的态势辨识,采用布尔逻辑完成其余区域的态势辨识;将辨识结果融合后进行航行意图推理,实现多船避碰.结果表明:所提出的辨识策略相比传统策略能够充分考虑个体间不确定性,在多船避碰中的效果更佳.An identification strategy of ship collision situation considering the uncertainty among individuals and an improved multi-ship collision avoidance method were proposed.According to the maritime rules and good ship skills,the ship encounter orientation map was divided.The interval type II fuzzy logic was used to construct the identification model,and the situation identification of the areas with unclear division of cross-encounter and encounter situations was completed,and the situation identification of the remaining areas was completed by Boolean logic.After the identification results were fused,the navigation intention was inferred to realize multi-ship collision avoidance.The results show that the proposed identification strategy can fully consider the uncertainty between individuals compared with the traditional strategy,and the effect is better in multi-ship collision avoidance.

关 键 词：会遇态势辨识 智能船舶 区间二型模糊逻辑 航行意图 多船避碰 

分 类 号：U675.79[交通运输工程—船舶及航道工程]