基于进化算法的船舶避碰轨迹建模

Modeling of Collision Avoidance Trajectory of Ship Based on the Evolutionary Algorithm

船舶交通流受到多种因素的影响,难以用精确的数学模型描述,以本船和来船的实时航向、航速、位置坐标为输入参数,结合船舶避碰轨迹建立模型,提出了一种基于进化算法的船舶避碰轨迹建模方法.该模型以自由度船舶运动学为基础,利用基于状态的过滤模块,来提高数据的可用性;同时,采用进化算法对描述船舶避碰轨迹问题的系统运动方程进行求解,最终规划出最优避碰路径.理论分析和实验结果表明,该建模方法具有高执行效率、高精度以及可扩展性.

The ship traffic flow is affected by many factors,so it is difficult to describe it with accurate mathematical models. In this paper,based on the real time course,speed and position coordinates of this ship and the coming ship as the input parameters,a model of the ship based on the collision avoidance trajectory is established,and a method of modeling the collision avoidance trajectory based on the evolutionary algorithm is proposed. The model is based on the ship kinematics for degree of freedom,and uses the state based filter module to improve the availability of the data. At the same time,the evolutionary algorithm is used to solve the system motion equation of the collision avoidance trajectory of the ship,and the optimal collision avoidance path is finally planned. The theoretical analysis and experimental results show that the modeling method has high execution efficiency,high accuracy and scalability.