海运船舶自主避碰技术研究进展与趋势

Research progress and trend of autonomous collision avoidance technology for marine ships

对近年来国内外海运船舶自主避碰技术的研究现状进行梳理,并将自主避碰方法分为三类,分别归纳分析了每类方法的研究进展以及海运船舶避碰系统开发与应用情况;提出了船舶自主避碰技术尚待解决的问题,包括:狭窄水域和繁忙水域的避碰决策问题、基于船间信息交互的多船自主协调避碰问题、自主避碰系统与船舶控制系统的协调和集成问题以及自主避碰系统智能性、可靠性、完备性测试问题;阐述了船舶自主避碰技术的研究趋势,提出下一步需突破的核心理论和关键技术问题,包括:复杂水域中融合机器学习的多船自主避碰理论和高效算法、不同避碰算法的自适应集成与融合、智能船舶和传统船舶混合交通环境下的船间交互协同理论、船舶自主避碰决策和船舶车舵控制一体化、船舶自主避碰系统测试技术等。

The research status of autonomous collision avoidance technology for marine vessels at home and abroad in recent years was summarized. The methods of automatic collision avoidance were divided into three categories and the research progress of each type of methods as well as the development and application of collision avoidance system for marine vessels were analyzed respectively. The unsolved problems in the research of ship collision avoidance technology were summarized, including collision avoidance decision-making problems in narrow and crowded waters, multi-ship autonomous coordination collision avoidance problems based on information exchange between ships, coordination and integration problems between autonomous collision avoidance system and ship control system, as well as intelligence, reliability and completeness testing problems of autonomous collision avoidance system. This paper elaborated the research trend of automatic collision avoidance technology, and put forward the core theories and key technologies to be solved in the next step, including multi-vessel collision avoidance theories and efficient algorithms combining machine learning in complex waters, self-adaption integration and fusion of different collision avoidance algorithms, interactive collaboration theories between intelligent ships and traditional ships in mixed traffic environment, integration of collision avoidance decision-making system and ship motion control system, and testing theories of autonomous collision avoidance system, etc.