开阔水域单船自动转向避碰与仿真

A Process of Ship Collision Avoidance by Single Ship Automatic Steering on Open Water and Simulation

单船自动转向避碰决策是海上船舶自动避碰研究方向之一。在分析现有船舶自动转向避碰决策缺陷之后,从海上船舶转向避让目标船的一般流程出发,阐述避碰各阶段的任务,借鉴融合现有成果,确立开阔水域基于单船自动转向的避碰决策。以"育龙"轮和COSCO ROTTERDAM集装箱轮为例,利用MATLAB仿真软件分别对交叉相遇局面、对遇局面及追越局面进行仿真研究,结果表明开阔水域依据上述避碰决策能够有效地避让目标船,并且在驶过让清之后能够自主返回计划航线。

One of research directions of ship automatic collision avoidance at sea is that decision-making of collision avoidance by single ship automatic steering. The task of various stages of collision avoidance is described, and existing results are quoted and merged from the process of avoiding target ship by steering, the ship collision avoidance decision is established based on single ship automatic steering in open waters, after analyzing the existing defects of collision avoidance decisions by ship automatic steering at sea. Simulations are executed by using MATLAB software simulation in crossing situation, heading on and overtaking situation with M/ V ＂Yu Long＂ and COSCO ROTTERDAM; Its results show that the target ship is avoided effectively with collision avoidance decision above in open waters, and that ship can autonomously return to planned route after the target vessel is past and clear.