基于天牛须搜索算法的多船避碰决策方法

Decision-making Approach for Multi-ship Collision Avoidance Based on Beetle Antennae Search Algorithm

针对多船会遇局面船舶的避碰决策问题,综合考虑避碰规则和船舶避碰操作,提出了一种基于天牛须搜索的避碰决策算法.通过船舶间距离、船速比、他船与本船之间方位角、最近会遇距离,以及最近会遇时间,确定船舶碰撞危险度的计算方案.在综合考虑船舶碰撞危险度和避碰过程中的航程损失的条件下,建立了船舶避碰决策目标函数.利用天牛须搜索算法的全局搜索能力强、收敛速度快的特点,获得了多船会遇下最优避碰转向幅度及复航时间.仿真结果表明:天牛须搜索算法在求解多船避碰决策问题上是可行有效的,能够为船舶驾驶员提供决策参考,降低航行的风险.

Aiming at the decision-making problem of collision avoidance of ships in the situation of multiple ships meeting,a collision avoidance decision-making algorithm based on the search of Beetle Antennae was proposed by considering collision avoidance rules and ship collision avoidance operations.According to the distance between ships,the speed ratio of ships,the azimuth angle between other ships and this ship,the nearest encounter distance and the nearest encounter time,the calculation scheme of ship collision risk was determined.The objective function of ship collision avoidance decision was established under the condition of comprehensive consideration of ship collision risk and voyage loss during collision avoidance.Using the characteristics of strong global search ability and fast convergence speed of the longicorn whisker search algorithm,the optimal collision avoidance steering range and return time were obtained when multiple ships met.The simulation results show that the search algorithm of Beetle Antennae is feasible and effective in solving the decision-making problem of multi-ship collision avoidance,which can provide decision-making reference for ship pilots and reduce the risk of navigation.