基于Simulink与Stateflow的船舶避碰决策支持系统仿真

Building Anti-collision Decision-making Supporting System With Simulink and Stateflow

在Simulink仿真环境下构建了一个自动避碰系统模型,模型中的避碰方案是以实际海员避碰行为为原型设计的,其避碰行动指标是在参考避碰行动统计研究后设定,并且符合国际海上避碰规则。此自动避碰系统模型是以层次化模块图的方式构建,模块化的设计使其灵活性较强,里面的避碰指标参数、船舶控制算法、船舶数学模型都可以根据需要进行调整和修改,并且在参数改变后可以立即在可视化模块中观察避碰结果。

An anti-collision decision-making supporting system simulation model was developed with Simulink and Stateflow under the Matlab environment. The collision avoidance plan was designed based on the actual behavior of seamen. The indexes of collision avoidance action were set referring to statistical study of seamen＇s behavior, and with reference to the International Regulations for Preventing Collision at Sea. It should be noticed that the model is a hierarchy modularized structure. The modularized design makes it flexible and easy to adjust its parameters of collision avoidance, control algorithm, and mathematic model when necessary. In addition, some conceptsrsuch as finite-state reactive system and control strategy design validation are helpful to the Auto-collision avoiding system making.