复杂水域船舶避碰路径规划研究

Collision Avoidance Path Planning of Ships in Complicated Water Areas

针对目标船和碍航障碍区同时存在的复杂水域船舶避碰问题,在考虑《国际海上避碰规则》的前提下,结合避让目标船舶的预测危险区(PAD)理论、借鉴船舶领域相关成果进行的缓冲区分析以及切线图法对复杂水域进行环境建模,再用Dijkstra算法求得一条避开所有碍航区的初始路径;并利用船舶回转直径,基于改进的2-turn方法对初始路径进行平滑处理,给出了避碰转弯角度和复航角度,其不仅能够平滑路径还能检验原路径的有效性;最后进行了仿真实验,验证了该方法的正确性与适用性;再与Maklink图结合Dijkstra和蚁群算法的路径规划方法进行对比分析,结果表明该方法在时间性能、路径整体的平滑性、路径优化程度等方面更具优势。

For the problem of collision avoidance of ships in complicated water areas where both target ships and navigation-obstructing areas exist at the same time,on the premise of considering the international regulations for preventing collisions at sea(COLREGS),the environment of complex waters was modeled by combining the predicted danger zone(PAD)theory of collision avoidance for targets ships,the buffer zone analysis referred to related achievements in the field of ship domain and the tangent graph method.And Dijkstra algorithm was used to find an initial path to avoid all the obstacle areas.Then,based on the improved 2-turn method,the initial path was smoothed by using the ship s turning diameter,and the collision avoidance turning angle and return angle were given,which could not only smooth the path but also test the effectiveness of the original path.Finally,the simulation experiment was carried out,and the correctness and applicability of the proposed method was verified.The path planning methods of Maklink graph,Dijkstra and ant colony algorithm were compared and analyzed.The results show that the proposed method has more advantages in time performance,smoothness of the whole path and the degree of path optimization.