基于最优控制的静水面多船避碰控制研究

Collision Avoidance Control of Multi-ships on Calm Water Based on Optimal Control

多船避碰在船舶的导航与控制领域是一个非常困难的问题,传统的几何避碰方法较难处理这类问题。文中采用最优控制方法,从船舶的运动方程出发,由避碰的实现过程设计目标函数,采用广义梯度方法求解。仿真实验结果显示,在静水面情况下,该方法能得到较好的避碰效果。

Multi-ships collision avoidance in the field of ship navigation and control is a very difficult problem, the traditional geometrical method for collision avoidance is difficult to deal with this kind of problem. In this paper, using the optimal control method and starting from the equation of motion of the ship, getting the objective the solution function was designed depend on implementation finally uses the generalized gradient method. Th~ ~;,~,,l~：~~pr^cess of collision avoidance, under f]a,~ ~A：.：_.