基于规则的多船协调避碰决策算法及仿真验证

Colregs-Based Multi-Ship Coordinated Collision Avoidance Decision Algorithm and Simulation Verification

为能在多船会遇局面下快速制定满足《国际海上避碰规则》(International Regulations for Preventing Collisions at Sea,COLREGs)和设置安全距离的避碰方案,设计一种在多船之间各自按COLREGs进行避碰决策的协调避让算法,解决现有的多船会遇研究中,仅靠1艘船避让难以达到合理有效的避让效果以及多船近距离转向避让可能无法完全有效避碰的问题;通过蒙特卡洛思想随机生成船舶初始会遇场景,并设置个别船舶未调用避碰决策算法进行决策,验证该决策算法在开阔水域以及在约定条件下的普适性和鲁棒性。研究结果表明:随着船舶数量增加,会遇越来越复杂,在4艘船会遇的复杂场景下,超99.51%能在大于安全会遇距离(Safe Distance of Approach,SDA)的情况下通过;运用该模型船舶避让行动符合良好船艺要求,运动轨迹平滑,船舶间距离变化均匀;该决策模型具有良好的避让效果,可为船舶避碰提供参考。

In order to make collision avoidance decisions which follow the COLREGs(International Regulations for Preventing Collisions at Sea)and set safe distances of approach in multi-ship encounter scenarios quickly,the coordinated collision avoidance algorithm is designed for involved ships to take right actions in the situation when reasonable and effective operation for safe passing cannot be achieved when the ships just do collision avoidance on their own.The encountering scenario for examining the algorithm is generated randomly through the Monte Carlo simulation.The universality and robustness of the algorithm in open sea are demonstrated.In a complicated scenario where 4 ships encounter,the ships enjoy 99.51%possibility of passing the interested area with the SDA(Safe Distance of Approach)or more.It is also demonstrated and proved that in the design the ship avoidance action meets the requirements of good seamanship,the ship’s movement track is smooth and the distance between ships varies evenly.The model with good effect can be a reference for collision avoidance decision.