基于避碰规则自动驾驶船舶路径优化的研究进展

A Review on Optimization of Unmanned Ship Path Based on Collision Avoidance Rules

在人工智能与大数据背景下,自动驾驶船舶因其安全、高效的优势吸引了国内外学者的广泛关注。但其避碰相关法律条例与避碰路径规划发展并不均衡。自动驾驶船舶概念在规范条例中仍十分模糊,传统的路径优化与算法存在一定的偏差,只局限于全局规划或局部规划无法有效的保障船舶行驶安全性。基于避碰规则梳理了自动驾驶船舶的相关规范,分析了最新的自动驾驶船舶路径优化研究成果,阐述了当下自动驾驶船舶路径规划的模型,包括智能算法、规划目标与约束条件等。针对当下仍存在的自动驾驶船舶避碰问题,应从定义、监管、责任划分等方面完善自动驾驶船舶法律法规体系,改良传统避碰路径规划算法容易陷入局部最优解、求解过程缓慢等缺陷,展望了自动驾驶船舶的进一步发展趋势。

In the era of artificial intelligence and big data,autonomous ships have attracted extensive attention from scholars at home and abroad due to their safety and efficiency.However,the development of relevant laws and regula⁃tions and collision avoidance path planning is imbalanced.The concept of traditional path optimization and algorithm has certain deviation,which is limited to global or local planning not guaranteeing the safety of a ship running.Based on the collision avoidance rules,the paper sorts out the relevant specifications of autonomous piloted ships and analyz⁃es the latest research results of path optimization of autonomous piloted ships.Also,the current model of path plan⁃ning of autonomous piloted ships is elaborated,including intelligent algorithms,planning objectives,and constraints.Given the existing problems of collision avoidance of autonomous piloted ships,the legal and regulatory system of au⁃tonomous piloted ships should be improved from the aspects of definition,supervision,and division of responsibili⁃ties.The further development trend of autonomous piloted ships is predicted by improving the traditional collision avoidance path planning algorithm easy to fall into the defects of the local optimal solution and slow solving process.