船舶海上事故避障路线自导方法研究

Research on self-guided method for obstacle avoidance route of ships at sea

传统避障路线方法只能躲避比较明显的故障物,对于小型故障物或是静态故障物躲避能力较差。针对这一问题,研究了一种新的船舶海上事故避障路线自导方法,首先对海上故障信息进行确认,获取障碍信息,然后确定躲避障碍的方向,最后进行多次细化。为检验方法可靠性,与传统避障路线方法进行对比,结果表明,本文船舶海上事故避障路线自导方法不仅能够躲避明显的故障物,同时能够躲避小型故障物和静态故障物,使船舶航行的安全风险大大降低。

The traditional obstacle avoidance route method can only avoid relatively obvious faults, and has poor ability to avoid small faults or static faults. Aiming at this problem, a new self-guided method for ship accident avoidance road is studied. Firstly, the sea fault information is confirmed, the obstacle information is obtained, and then the direction of obstacle avoidance is determined. Finally, multiple refinements are carried out. In order to verify the reliability of the method and compare it with the traditional obstacle avoidance route method, the results show that the self-guided method can not only avoid obvious faults, but also avoid small faults and static faults, which make the safety risk of ship navigation reduce greatly.