基于最优控制的海上多目标船避碰研究

Collision avoidance control of multi-ships on sea based on optimal control

为解决海上多目标船自动避碰问题,支持船舶智能避碰决策,根据最优控制通用方法,以船舶运动方程为系统状态方程,最终量化指标为目标函数,避碰过程中及其结束后对船舶运动状态的规定为约束,建立海上开阔水域多目标船避碰最优控制模型。采用广义梯度方法求解该模型。设计并完成限定约束条件下的多船避碰仿真试验。仿真试验结果表明,在开阔静水面条件下,整个避碰过程都以允许的最短距离和船舶安全领域为船舶避碰约束,能够实现多船避碰。

In order to solve the problem of automatic collision avoidance of multi-target ships at sea and support ship intelligent collision avoidance decision making, an optimal control model was built for colli- sion avoidance multi-target ships in an open marine area. For building the model, ship motion equations were taken as system of equations of state, ship collision avoidance final quantitative targets as objective function, ship motion state in process of collision avoidance and ship motion state at end of collision avoid- ance as constraints. The model was solved by generalized gradient method. A simulation test was designed and carried out for multi-ship collision avoidance under a defined constraint condition. The result of test simulation shows that shortest path is goal at whole process of collision avoidance, and ship security zone is constraints during collision avoidance, multi-ship collision can be avoidable under condition that both allowable shortest distance and ship safe zone are taken as constraints in whole process of collision avoidance.