智能船舶在狭水道自主航行测试与评价

Test and Evaluation of Autonomous Navigation of Intelligent Ship in Narrow Channel

针对自主航行技术在狭水道航行场景下的测试验证问题,基于狭水道实际航行特点,结合自主航行系统测试验证要求,构建适用于狭水道自主航行系统的测试验证指标体系,搭建场景完善、功能全面、测试项目多样的标准化虚拟仿真测试平台。基于该平台,对几类典型的狭水道自主航行算法进行了虚拟仿真测试,验证所构建的测试验证指标体系的科学性与可执行性,并为相关算法的开发与迭代提供理论依据。

Aiming at the test and verification problems of autonomous navigation technology in the narrow water,a test and verification index system suitable for narrow water autonomous navigation systems was constructed based on the actual navigation characteristics of narrow water and combines with the test and verification requirements of the autonomous navigation system.A standardized virtual simulation test platform with perfect scenes,comprehensive functions,and diverse test items was built.Several virtual tests of autonomous navigation in narrow channel were carried out based on this platform.The scientificity and executability of the proposed test and verification index system were verified,providing a theoretical basis for developing and iterating the algorithms.