摘要
研究两艘船舶在紧迫局面下的避碰问题,建立避碰问题的微分博弈数学模型,将避碰问题转化为追逃微分博弈问题,用微分博弈的方法推导出追逃双方为了达到各自目的所应采取的最优控制策略,并给出数值模拟算法.研究表明,双方的控制作用使得彼此加速度方向一致时,双方都取得最优控制策略,同时也证明微分博弈方法在处理紧迫局面下的避碰问题时的有效性.
Collision avoidance problem of two vessels on close-quarter situation is studied. Mathematical model using differential game theory for collision avoidance is formulated. The collision avoidance problem on close-quarter situation is converted into differential games problem. By differential games method, the optimal controlling strategies for the two vessels are deducted from the mathematical model. Numerical simulation of various meeting situations is performed. The research indicates that the controlling strategy is optimal when they have the same acceleration direction. It is also shown that differential game theory is an effective tool in dealing with collision avoidance problems.
出处
《上海海事大学学报》
北大核心
2007年第1期137-142,共6页
Journal of Shanghai Maritime University
基金
上海市重点学科建设项目(T0603)
关键词
避碰
微分博弈
紧迫局面
collision avoidance
differential games
close-quarter situation
