长江下游桥区动态自适应自主航行决策方法

Dynamic adaptive autonomous navigation method for bridge area in the lower reaches of the Yangtze River

针对长江下游桥区环境复杂且时变,存在特殊航行规则、可航水域受限等问题,提出一种自主航行决策方法。在该类水域,基于数字化交通环境模型,结合导航模型、船舶操纵运动数学模型(MMG)、航向航迹控制方法构建自动航行模型。以航行规则和良好船艺为前提计算可行操纵区间,依靠时序滚动框架消除剩余误差和自适应目标船(TS)机动,求取自主航行决策方案。仿真结果表明:该方法能自适应时变环境,实现自适应多目标避让,并沿推荐航线安全通过,为桥区水域自主航行提供一种自适应的决策方法。

Aiming at the complex and time-varying environment,special navigation rules and restricted navigable waters in the bridge area of the lower reaches of the Yangtze River,an autonomous navigation decision-making method is proposed.Based on the digital traffic environment model,combining guidance model,MMG(Mathematical Model Group)model and track control method,an automatic navigation model is constructed.On the premise of navigation rules and good seamanship,the feasible maneuvering interval is calculated,then the autonomous navigation decision is obtained by eliminating the residual error and adaptive maneuvering of TS(Target Ship)with the time-series rolling framework.The simulation results show that this method can adapt to the time-varying environment in this kind of water area and achieve adaptive multi-target avoidance,and pass safely along the recommended route.It can provide an adaptive decision-making method for autonomous navigation in bridge area.