开阔水域直航船自主避碰决策方法

Decision Method of Autonomous Collision Avoidance for Stand-on vessels in Open Waters

为解决开阔水域自主航行直航船避碰行动决策问题,总结避碰规则和良好船艺要求,建立船舶操纵运动、航向控制模型仿真转向运动,在航向控制系统环境下解析局面要素的物理含义、构建量化模型和算法,提出了各态势下直航船避碰行动时机和方案选择方法.仿真表明,可基于会遇态势实时、自适应地进行决策.

In order to solve the decision-making problem of collision avoidance action for stand-on vessels sailing autonomously in open waters,the collision avoidance rules and requirements of good ship skills were summarized,and the ship steering motion and course control models were established to simulate the steering motion.Under the heading control system environment,the physical meaning of the situation elements was analyzed,the quantitative model and algorithm were constructed,and the collision avoidance action timing and scheme selection methods of stand-on vessels under various situations were put forward.The simulation shows that the decision can be made in real time and adaptively based on the encounter situation.