CN113759939A - Intelligent navigation method and device for limited water area - Google Patents
Intelligent navigation method and device for limited water area Download PDFInfo
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Abstract
The invention provides an intelligent navigation method and device for a limited water area, wherein the method comprises the following steps: constructing a real-time navigation environment scene model of the limited water area, and determining the meeting situation type of the ship and the target ship based on a meeting situation type identification model of mutual bulwark angle comparison; constructing a dynamic ship field model of the ship and providing a collision risk quantitative model integrating time collision risk and space collision risk; calculating collision risk values of the ship and a plurality of target ships according to the collision risk quantitative model; determining a feasible control interval capable of clearing all target ships and obstacles by combining a three-degree-of-freedom ship control motion model, a fuzzy PID control system and an improved speed obstacle method; determining an optimal collision avoidance strategy considering the speed change and the direction change of the ship from the feasible control interval; and executing an optimal collision avoidance strategy, and performing re-navigation according to the built re-navigation model after collision avoidance is finished. The invention meets the intelligent navigation requirements of multiple static obstacles and multiple target ships in the limited water area under the situation of complex meeting.
Description
Technical Field
The invention relates to the technical field of intelligent navigation of ships, in particular to an intelligent navigation method and device for a limited water area.
Background
The intelligent navigation is one of main functional modules of the intelligent ship and is an effective way for solving the navigation safety problem. The intelligent navigation system is to utilize advanced sensing technology, sensing information fusion technology and the like to obtain and sense state information required by ship navigation, analyze and process the state information through computer technology and control technology, and provide decision suggestions for navigation speed and route optimization for the navigation of the ship. When feasible, the ship can realize autonomous navigation of the ship under different navigation scenes such as open water areas, narrow water channels and the like and complex environmental conditions.
Chinese patent (application number: CN 202110461193.0) discloses an intelligent collision prevention method for the navigation of a commercial ship, which can detect and judge a target on the basis of data acquisition, then select a steering angle and enter a new iteration after a certain time interval. The method can acquire environmental information in real time, plan the suggested course and assist navigation decision. Chinese patent (application number: CN 201911385914.3) discloses a method for realizing an intelligent navigation system, which can realize avoiding risks according to the actual position, heading and latest weather forecast data of a ship regularly during the navigation process of the ship and the data information, and utilize a navigation system to carry out route optimization calculation again, output a new optimized route and generate a dynamic route. Chinese patent (application number: CN 202011207615.3) discloses an intelligent navigation system of a tug, which has a simple technical structure, and establishes data communication with a workstation through a serial server respectively for data output ports of a global positioning system, an automatic information identification system and a depth finder, the port of a laser radar directly establishes data communication with the workstation, and the workstation outputs the comprehensive operation result of the received data to an expansion display for display through an operation terminal. The invention can effectively reduce the fuel waste caused by tug drifting waiting or meaningless high-speed navigation, and provides a navigation optimization strategy of shortest voyage and fastest time for reaching a multi-target ship.
According to the three Chinese patent documents, analysis is carried out by combining the existing intelligent navigation related technologies, the existing intelligent navigation or collision avoidance related technologies are used for researching open water areas, limited water areas are less researched, the real navigation environment scene of the limited water areas is not considered, the situation identification model is not comprehensive, the collision risk degree evaluation is not accurate, and the problems that collision avoidance rules are not comprehensively considered and ships are rescued in the existing technologies are also solved.
Disclosure of Invention
In view of the above, it is necessary to provide an intelligent navigation method and apparatus for a restricted water area, so as to solve the problems in the prior art that the real navigation environment scene of the restricted water area is not considered, the situation identification model is not comprehensive, the evaluation of collision risk is not accurate enough, and the integration of collision avoidance rules, the ship maneuvering process and the ship re-navigation are not considered in the existing ship navigation process.
In order to solve the technical problem, the invention provides an intelligent navigation method for a limited water area, which comprises the following steps:
constructing a real-time navigation environment scene model of a limited water area, wherein the real-time navigation environment scene model comprises a plurality of target ships and a plurality of static obstacles;
determining the meeting situation type of the ship and the target ship according to the collision avoidance rule, the potential collision danger judgment model and the bulwark angle mutual comparison method;
establishing a fuzzy quaternary ship field model of the ship, and constructing a collision risk degree quantification model fusing a time collision risk degree and a space collision risk degree according to the fuzzy quaternary ship field model, a Gaussian asymmetric equation and navigation practice;
calculating collision risk values between the ship and the target ships according to the collision risk quantitative model, and determining whether collision risks exist between the ship and the target ships according to the collision risk values;
when collision danger exists between the ship and the target ships, determining a feasible operation interval of the ship for clearing all the target ships and obstacles according to the real-time navigation environment scene model, the meeting situation type, the three-degree-of-freedom ship operation motion model, the fuzzy PID control system and the improved speed obstacle model; the feasible manipulation interval comprises a plurality of steering angles and a plurality of rotating speeds corresponding to the steering angles;
taking the minimum steering angle in the feasible manipulation interval as a target steering angle, taking the rotating speed corresponding to the target steering angle as a target rotating speed, and taking a set consisting of the target steering angle and the target rotating speed as an optimal collision avoidance strategy;
and the ship executes the optimal collision avoidance strategy, and after collision avoidance is finished, a built re-navigation model is adopted to obtain a re-navigation angle based on the relative position of the ship and the planned route and the nonlinear motion state information of the ship, and the ship is controlled to re-navigate according to the re-navigation angle.
In some possible implementations, the constructing a real-time navigation environment scene model of the limited water area includes:
acquiring an electronic chart, AIS data and automatic radar plotter data of a limited water area;
and constructing the real-time navigation environment scene model according to the electronic chart, the AIS data and the automatic radar plotter data, wherein the real-time navigation environment scene model comprises a plurality of target ships and a plurality of static obstacles.
In some possible implementation manners, the determining the meeting situation type of the ship and the target ship according to the collision avoidance rule, the potential collision risk judgment model and the bulwark angle mutual comparison method includes:
calculating the latest meeting time of the ship and the target ship;
judging whether the ship and the target ship have potential collision danger or not according to the potential collision danger judgment model and the fuzzy quaternary ship field model;
when the ship and the target ship have potential collision danger, determining the bulwark angle of the ship relative to the target ship and the bulwark angle of the target ship relative to the ship, and determining the meeting situation type of the ship and the target ship according to a bulwark angle mutual comparison method, the recent meeting time, the bulwark angle of the ship relative to the target ship and the bulwark angle of the target ship relative to the ship.
In some possible implementations, the encounter scenario types include encounter, chase and cross; determining the meeting situation type of the ship and the target ship according to the mutual comparison method of the bulwarks, the recent meeting time, the bulwark angle of the ship relative to the target ship and the bulwark angle of the target ship relative to the ship, specifically:
when the recent meeting time is more than zero, and the angle Q of the target ship relative to the ship is belonged to [ 0], 6 DEG, U [354 DEG, 360 DEG ], and the angle Q1 of the ship relative to the target ship is belonged to [0 DEG, 6 DEG ], U [354 DEG, 360 DEG ], the meeting situation type is a meeting situation;
when the recent meeting time is more than zero, and the bulwark angle Q epsilon [0 degrees, 112.5 degrees ] of the target ship relative to the ship and the bulwark angle Q1 epsilon [0 degrees, 247.5 degrees ] of the target ship relative to the ship are larger than zero, the meeting situation type is a meeting situation;
when the recent meeting time is more than zero, and the bulwark angle Q epsilon [247.5 degrees and 360 degrees ] of the target ship relative to the target ship and the bulwark angle Q1 epsilon [247.5 degrees and 360 degrees ] of the target ship relative to the target ship, the meeting situation type is a meeting situation;
when the recent meeting time is more than zero, and the port angle Q of the target ship relative to the ship belongs to [ 0], 90 DEG, U [270 DEG, 360 DEG ], and the port angle Q1 of the target ship relative to the ship belongs to [112.5 DEG, 247.5 DEG ], the meeting situation type is a overtaking situation, and the ship is a way-giving ship;
when the recent meeting time is more than zero, and the port angle Q of the target ship relative to the ship belongs to [112.5 degrees, 247.5 degrees ], and the port angle Q1 of the ship relative to the target ship belongs to [0 degrees, 90 degrees ], U [270 degrees, 360 degrees ], the meeting situation type is a overtaking situation, and the ship is a straight ship;
when the latest meeting time is more than zero, the bulwark angle Q of the target ship relative to the ship belongs to [0 degrees, 112.5 degrees ], and the meeting situation type is not an encounter situation or a pursuing situation, the meeting situation type is a cross situation, and the ship is a way-giving ship;
and when the latest meeting time is more than zero, the bulwark angle Q of the target ship relative to the ship belongs to [247.5 degrees, 360 degrees ], and the meeting situation type is not an encounter situation or a pursuing situation, the meeting situation type is a cross situation, and the ship is a straight ship.
In some possible implementations, the collision risk quantification model is:
in the formula (I), the compound is shown in the specification,
is the collision risk value;
is a spatial collision risk value;
is a time collision risk value;
is a synthesis operator;
is a natural constantCounting;
the distance scale factor of the ship and the target ship is obtained;
time scale factors of the ship and the target ship are obtained;
the value is 0.6 for the safety threshold of the collision risk degree;
the distance between the ship and the target ship is obtained;
the relative speed course angle between the ship and the target ship is obtained;
the azimuth angle of the target ship relative to the own ship;
the distance from the ship center of the ship to the boundary of the fuzzy quaternary ship field model of the ship is obtained;
is a time constant;
is the relative velocity between the own vessel and the target vessel.
In some possible implementation manners, determining whether there is a collision risk between the own ship and the target ships according to the collision risk values includes:
when the space collision risk value
When the ship is less than 0.6, the ship and the target ship are not in collision danger;
when the space collision risk value
Greater than 0.6, and said time collision risk value
When the ship is less than 0.6, the ship and the target ship are not in collision danger;
when the space collision risk value
Greater than 0.6, and said time collision risk value
And when the current ship is larger than 0.6, the ship and the target ship have collision danger.
In some possible implementations, the determining, according to the real-time navigation environment scene model, the ship nonlinear motion process, the meeting situation type, and the improved speed obstacle model, a feasible maneuvering interval in which the ship can yield all target ships and obstacles includes:
step S1, determining whether the ship is a yielding ship or not according to the meeting situation type and the collision avoidance rule, and executing step S2 when the ship is the yielding ship;
step S2, determining the current information of the ship, the current information of the target ship and the initial heading
Initial rotation speed NP =91, target heading; the current information of the ship comprises the current position of the ship, the current rotating speed of the ship and the current course of the ship; the current information of the target ship comprises the current position of the target ship, the current rotating speed of the target ship and the current course of the target ship;
step S3, setting the redirection step length as 1 degree, and discretizing the redirection interval [ -90 degrees, 90 degrees ] of the ship into 181 steering elements; setting the step length of the rotating speed as-1 r/min, and discretizing a rotating speed interval [35r/min, 91r/min ] into 57 rotating speed elements;
step S4, judging whether the initial course amplitude is less than 90 degrees, if yes, simulating the steering process of the ship from the current course to the target course according to the control system, and verifying whether the control scheme formed by the steering elements and the rotating speed elements belongs to a feasible control interval one by one; the control system comprises a three-degree-of-freedom ship control motion model and a fuzzy PID control system;
step S5, updating the ship information and calculating the steering process time from the start to the end of steering, wherein the steering process time is the deduction time;
step S6, judging whether the current course of the ship reaches the target course; if the target course is reached, updating and determining the ship information and the target ship information at the redirection completion moment, and turning to S7; if not, the ship information and the target ship information are continuously updated according to the control system;
step S7, judging whether potential collision danger exists between the ship and the j target ship within the deduction time, if so, increasing the redirection angle by 1 degree and turning to step S4, otherwise, turning to S8;
step S8: and traversing all the target ships, updating the corresponding redirection angles and the corresponding redirection rotating speed sets, and recording and inputting the redirection angles and the corresponding redirection rotating speed sets into the feasible control interval sets.
In some possible implementations, the method for calculating the fly-back angle includes:
in the formula (I), the compound is shown in the specification,
an angle corresponding to the target course to be tracked and the target course to be trackedThe degree is a re-navigation angle;
the vertical distance between the center of the ship and the planned route;
radius of the LOS circle;
in order to take the ship as the center,
the abscissa of the intersection point of the circle with the radius and one side of the planned route close to the steering point; and x is the abscissa of the current position of the ship.
In some possible implementation manners, the ship executes the optimal collision avoidance strategy, which specifically includes:
controlling the ship to execute the optimal collision avoidance strategy based on a control system, so that the ship runs according to a target steering angle and a target rotating speed;
the updating and determining of the ship information at the redirection completion moment specifically comprises the following steps:
and updating and determining the ship information in real time through the three-degree-of-freedom ship control motion model.
In another aspect, the present invention further provides an intelligent navigation device for a restricted water area, including:
the real-time navigation environment scene construction module is used for constructing a real-time navigation environment scene model of the limited water area, and the real-time navigation environment scene model comprises a plurality of target ships and a plurality of static obstacles;
the meeting situation type determining module is used for determining the meeting situation type of the ship and the target ship according to the collision avoidance rule, the potential collision danger judging model and the bulwark angle mutual comparison method;
the collision risk quantitative model building module is used for building a fuzzy quaternary ship field model of the ship and building a collision risk quantitative model fusing time collision risk and space collision risk according to the fuzzy quaternary ship field model, the Gaussian asymmetric equation and the navigation practice;
the collision danger judging module is used for calculating collision danger values between the ship and the target ships according to the collision danger quantitative model and determining whether collision danger exists between the ship and the target ships according to the collision danger values;
the feasible operation interval determining module is used for determining the feasible operation intervals of all target ships and obstacles which can be yielded by the ship according to the real-time navigation environment scene model, the meeting situation type, the three-degree-of-freedom ship operation motion model, the fuzzy PID control system and the improved speed obstacle model when collision danger exists between the ship and the target ships; the feasible manipulation interval comprises a plurality of steering angles and a plurality of rotating speeds corresponding to the steering angles;
the collision avoidance strategy determining module is used for taking the minimum steering angle in the feasible manipulation interval as a target steering angle, taking the rotating speed corresponding to the target steering angle as a target rotating speed, and taking a set formed by the target steering angle and the target rotating speed as an optimal collision avoidance strategy;
and the self-propelled ship executes the optimal collision avoidance strategy, and after collision avoidance is finished, a constructed re-propelled model is adopted to obtain a re-propelled angle based on the relative position of the self-propelled ship and a planned route and the nonlinear motion state information of the ship, and the self-propelled ship is controlled to carry out re-propelled according to the re-propelled angle.
The beneficial effects of adopting the above embodiment are: according to the intelligent navigation method for the limited water area, disclosed by the invention, the real-time navigation environment scene model of the limited water area is constructed, the problems of more obstacles and more complex environment can be realized, and the collision avoidance strategy problem of the limited water area with direction change and speed change is considered, so that the ship can realize intelligent navigation in the limited water area, and the intelligent navigation method has practical significance. Furthermore, by constructing the real-time navigation environment scene model of the limited water area, the accuracy of determining the meeting situation type and the accuracy of the collision risk degree in the limited water area can be improved, so that the reliability of the optimal collision avoidance strategy is improved. Furthermore, after the ship executes the optimal collision avoidance strategy, the built re-navigation model is adopted to obtain the re-navigation angle, and the ship can be controlled to re-navigate according to the re-navigation angle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating an embodiment of an intelligent navigation method for a restricted water area according to the present invention;
FIG. 2 is a schematic flow chart of one embodiment of S101 of FIG. 1;
FIG. 3 is a schematic structural diagram of an embodiment of a fuzzy quaternary ship domain model provided by the present invention;
FIG. 4 is a schematic structural diagram of a potential collision risk assessment model according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of one embodiment of S102 of FIG. 1;
FIG. 6 is a flowchart illustrating an embodiment of S104 of FIG. 1 according to the present invention;
FIG. 7 is a flowchart illustrating an embodiment of S105 of FIG. 1 according to the present invention;
FIG. 8 is a structural diagram illustrating an embodiment of the feasible manipulation interval calculation provided by the present invention;
fig. 9 is a schematic structural diagram of an embodiment of a fly-back angle calculation process provided by the present invention;
fig. 10 is a schematic structural diagram of an embodiment of the intelligent navigation device for a restricted water area provided by the invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present application, "a plurality" means two or more unless otherwise specified.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The invention provides an intelligent navigation method and device for a limited water area, which are respectively explained below.
Fig. 1 is a schematic flow chart of an embodiment of an intelligent navigation method for a limited water area, shown in fig. 1, the intelligent navigation method for a limited water area includes:
s101, constructing a real-time navigation environment scene model of a limited water area, wherein the real-time navigation environment scene model comprises a plurality of target ships and a plurality of static obstacles;
s102, determining the meeting situation type of the ship and the target ship according to a collision avoidance rule, a potential collision danger judgment model and a bulwark angle mutual comparison method;
s103, establishing a fuzzy quaternary ship field model of the ship, and constructing a collision risk degree quantification model fusing time collision risk degree and space collision risk degree according to the fuzzy quaternary ship field model, a Gaussian asymmetric equation and navigation practice;
s104, calculating collision danger values between the ship and the target ships according to the collision danger quantitative model, and determining whether collision danger exists between the ship and the target ships according to the collision danger values;
s105, when collision danger exists between the ship and the target ships, determining a feasible operation interval of the ship, wherein the feasible operation interval can clear all the target ships and obstacles, according to a real-time navigation environment scene model, a meeting situation type, a three-degree-of-freedom ship operation motion model, a fuzzy PID control system and an improved speed obstacle model; the feasible manipulation interval comprises a plurality of steering angles and a plurality of rotating speeds corresponding to the steering angles;
s106, taking the minimum steering angle in the feasible manipulation interval as a target steering angle, taking the rotating speed corresponding to the target steering angle as a target rotating speed, and taking a set consisting of the target steering angle and the target rotating speed as an optimal collision avoidance strategy;
and S107, executing the optimal collision avoidance strategy by the ship, adopting the constructed re-navigation model to obtain a re-navigation angle based on the relative position of the ship and the planned route and the nonlinear motion state information of the ship after collision avoidance is finished, and controlling the ship to re-navigate according to the re-navigation angle.
Compared with the prior art, the intelligent navigation method for the limited water area provided by the embodiment of the invention can realize the intelligent navigation of the ship in the limited water area by constructing the real-time navigation environment scene model of the limited water area, realizing more obstacles and more complex environment and considering the collision avoidance strategy problem of the limited water area with direction and speed changing, and has practical and practical significance. Furthermore, by constructing the real-time navigation environment scene model of the limited water area, the accuracy of determining the meeting situation type and the accuracy of the collision risk degree in the limited water area can be improved, so that the reliability of the optimal collision avoidance strategy is improved. Furthermore, after the ship executes the optimal collision avoidance strategy, the built re-navigation model is adopted to obtain the re-navigation angle, and the ship can be controlled to re-navigate according to the re-navigation angle.
In some embodiments of the present invention, as shown in fig. 2, S101 includes:
s201, acquiring an electronic chart, AIS data and automatic radar plotter data of a limited water area;
s202, constructing a real-time navigation environment scene model according to the electronic chart, the AIS data and the automatic radar plotter data, wherein the real-time navigation environment scene model comprises a plurality of target ships and a plurality of static obstacles.
Specifically, the method comprises the following steps: due to the fact that obstacles with different shapes exist in the navigation area, the shape of the obstacle obtained by analyzing the electronic chart or the marine environment information extracted by the radar is usually complex, and if the obstacles with different shapes are directly subjected to information extraction and processing, the calculation cost is often high. In order to reduce the calculation cost and shorten the planning time, the obstacle needs to be simply processed, and the obstacle is simplified into a geometric figure conforming to the contour feature, so that the calculation is convenient.
Combining the characteristics of the restricted water area, the types of static obstacles of the restricted water area are shown in table 1:
TABLE 1 static obstacle types
Specifically, a limited water area is divided into a navigable water area and an unviable water area, and a special target mathematical model is constructed according to the 1972 international maritime collision avoidance rule convention and a good ship process.
(1) A navigable water area. Regarding targets, such as a drilling platform, an island, an operation limit, an out-of-control ship and the like, which need to take collision avoidance action as early as possible and pass through at a longer distance in a navigable water area, regarding the targets as circular-like obstacles and setting a fixed radius; for some targets with larger dimensions, such as towing fleets, trawlers and the like, the targets are used as strip-shaped barriers according to the shapes of the targets and the ships are prohibited from passing; objects with small dimensions, such as buoys, light and dark reefs, can be passed by the ship at a relatively short distance, and are considered as point-like obstacles.
(2) The water area can not be navigated. The areas of continuous targets such as shoals and shorelines are large, so that the ship cannot pass through or drive in, and can be regarded as a polygonal target. The vertices are determined according to the concave-convex shapes of the targets in the chart, and a polygon is formed, and the inside of the polygon is not allowed to pass through the ship.
Further, for a point-shaped obstacle, a circle with a certain radius is directly selected as a domain model, and a curve equation is as follows:
the method can perform offset correction on the similar-circle obstacle field model on the basis of a circular model, and establishes a field model of the channel static obstacle by using a similar-circle curve, wherein the curve equation is as follows:
in the formula: the x direction is the ship traveling direction, the y direction is the ship starboard direction, R is the quasi-circular curve radius, n is an offset correction coefficient (the value is [ -1,0]), and when n is 0, the n is a point-shaped obstacle security domain.
For the size of the scale in the field, referring to a rattan well model, the value of a in the formula is 0.8L + r (L is the ship length of the ship, and r is the average radius of the obstructive object). And according to the Goodwin theory, the domain size ratio of the port and the starboard of the model is taken and converted into a circle-like curve model, so that the maximum size of the left side of the model is 0.875L + r, and the maximum size of the right side of the model is 0.725L + r. Therefore, the offset correction coefficient n = -0.09375 can be estimated.
Thus, the equation for the circle-like obstacle field model for a static obstacle can be defined as:
wherein L is the ship length of the ship and R is the average radius of the obstructive object.
Further, for the planar obstacle, the field model is specifically constructed as follows:
for a limited water area, the domain size of the left side boundary of the navigation channel is larger than that of the right side boundary of the navigation channel, and a correction value t can be added for correction. The size of the boundary area on the left side of the navigation channel is (A/2) + t, and the size of the boundary area on the right side of the navigation channel is (A/2) -t. It is known from the literature that the width a of a ship track is related to the handling performance of the ship, the working skill and mind of a ship operator, the navigation environment and other factors. Furthermore, considering the combined effect of medium wind speed and flow velocity, for a vessel with poor handling performance, the recommended value of the track width is 2Be +0.5Be + Be, plus the margin of richness 0.5Be, where Be is the width of the vessel, so a =4Be is taken. The correction value t is obtained by taking the domain size ratio of the model port and starboard with reference to Goodwin theory, and is converted into t =0.387 Be. A domain model of the channel boundary is obtained, the left side boundary of the channel is a banded domain of size 2.378Be, and the right side boundary of the channel is a banded domain of size 1.613 Be. Similarly, for the division strip of the lane navigation system, the security domain is obtained in the same way.
Further, establishing a dynamic ship field model, specifically:
dynamic obstacles generally consist primarily of vessels traveling in confined waters. The fuzzy quaternary ship field is not only suitable for collision avoidance of multiple ships, but also suitable for different water areas by adjusting the parameter c. The invention is a limited water area, and can adjust the c according to the characteristics of the limited water area. Therefore, the dynamic barrier, namely the motor ship, is constructed in the fuzzy quaternary ship field for modeling.
As shown in FIG. 3, a coordinate system is established with the center of gravity of the ship as the origin, the direction of the bow as the positive direction of the y axis, and the direction perpendicular to the bow as the positive direction of the x axis, RFAnd RAFor obscuring the longitudinal forward and backward radii, R, of a quaternary ship domainPAnd RSThe four-element ship field is fuzzy. Form quadruple Q = { RF，RA，RS，RP}. The calculation formula is as follows:
in the formula: l is the length of the ship; v is the ship speed of the ship;
is the coefficient of the initial diameter of the spin;
is the coefficient of the advancing distance of the ship.
The fuzzy quaternary ship field model is as follows:
wherein: c is a parameter, and the c parameter determines the shape of the field;
is a symbolic function.
In some embodiments of the present invention, the model for determining the risk of potential collision is shown in fig. 4, where in fig. 4, the distance between the target ship and the virtual ship is D, and the distance between the target ship and the boundary of the ship field along the direction of the virtual ship is Dis = D-RT. Setting the K epsilon to N,
the time step can be determined according to the following methodWhether there is a potential collision risk:
(1) if there is one K present, the number of K,
dis of time
The target ship enters the ship field of the ship, and potential collision danger exists;
(2) if there is always
There is no potential collision hazard.
Thus, sufficient requirements that there is no potential collision risk are:
as can be seen from FIG. 4, for two ships approaching each other, the distance is far from the initial moment, and there is always a need for the two ships to approach each other
. Obviously, if the change rule is first reduced and then increased all the time, the necessary conditions for avoiding the potential collision risk are as follows:
once it appears in the calculation process
There is a potential collision hazard; if it occurs
There is certainly no potential collision hazard.
In some embodiments of the present invention, as shown in fig. 5, step S102 includes:
s501, calculating the latest meeting time of the ship and the target ship;
s502, judging whether the ship and the target ship have potential collision danger or not according to the potential collision danger judgment model and the fuzzy quaternary ship field model;
s503, when the ship and the target ship have potential collision danger, determining the bulwark angle of the ship relative to the target ship and the bulwark angle of the target ship relative to the ship, and determining the meeting situation type of the ship and the target ship according to a mutual bulwark angle comparison method, the latest meeting time, the bulwark angle of the ship relative to the target ship and the bulwark angle of the target ship relative to the ship.
In some embodiments of the invention, the encounter scenario types include encounter scenarios, pursuit scenarios, and cross scenarios; step S503 is specifically:
when the recent meeting time is more than zero, and the angle Q of the target ship relative to the ship belongs to [ 0], 6 DEG, U [354 DEG, 360 DEG ], and the angle Q1 of the ship relative to the target ship belongs to [0 DEG, 6 DEG ], U [354 DEG, 360 DEG ], the meeting situation type is a meeting situation;
when the meeting time is more than zero recently, and the bulwark angle Q of the target ship relative to the ship belongs to the range of 0 degrees and 112.5 degrees, and the bulwark angle Q1 of the target ship relative to the ship belongs to the range of 0 degrees and 247.5 degrees, the meeting situation type is a meeting situation;
when the meeting time is more than zero recently, and the bulwark angle Q of the target ship relative to the ship belongs to [247.5 degrees and 360 degrees ], and the bulwark angle Q1 of the target ship relative to the ship belongs to [247.5 degrees and 360 degrees ], the meeting situation type is a meeting situation;
when the recent meeting time is more than zero, and the port angle Q of the target ship relative to the ship belongs to [ 0], 90 DEG, U [270 DEG, 360 DEG ], and the port angle Q1 of the target ship relative to the ship belongs to [112.5 DEG, 247.5 DEG ], the meeting situation type is a overtaking situation, and the ship is a way-giving ship;
when the meeting time is more than zero recently, and the port angle Q of the target ship relative to the ship belongs to [112.5 degrees, 247.5 degrees ], and the port angle Q1 of the target ship relative to the ship belongs to [0 degrees, 90 degrees ] U [270 degrees, 360 degrees ], the meeting situation type is a overtaking situation, and the ship is a straight ship;
when the latest meeting time is more than zero, the bulwark angle Q of the target ship relative to the ship belongs to [0 degrees, 112.5 degrees ], and the meeting situation type is not an opposite meeting situation or a pursuing situation, the meeting situation type is a cross situation, and the ship is a way-giving ship;
when the latest meeting time is more than zero, the bulwark angle Q of the target ship relative to the ship belongs to [247.5 degrees and 360 degrees ], and the meeting situation type is not the meeting situation or the pursuing situation, the meeting situation type is a cross situation, and the ship is a straight ship.
In some embodiments of the invention, the collision risk quantification model is:
in the formula (I), the compound is shown in the specification,
is a collision risk value;
is a spatial collision risk value;
is a time collision risk value;
is a synthesis operator;
is a natural constant;
the distance scale factor of the ship and the target ship is obtained;
time scale factors of the ship and the target ship are obtained;
the value is 0.6 for the safety threshold of the collision risk degree;
the distance between the ship and the target ship;
the relative speed course angle between the ship and the target ship;
the azimuth angle of the target ship relative to the ship is obtained;
the distance from the ship center of the ship to the boundary of the fuzzy quaternary ship field model of the ship;
is a time constant;
is the relative velocity between the own vessel and the target vessel.
In some embodiments of the present invention, as shown in fig. 6, S104 specifically is:
s601, when space collision danger value
When the ship is less than 0.6, the ship and the target ship do not have collision danger;
s602, when space collision danger value
Greater than 0.6 and a time collision risk value
When the ship is less than 0.6, the ship and the target ship do not have collision danger;
s603, when space collision danger value
Greater than 0.6 and a time collision risk value
And when the current ship is larger than 0.6, the ship and the target ship have collision danger.
In some embodiments of the present invention, as shown in fig. 7, step S105 includes:
step S701, determining whether the ship is a yielding ship or not according to the meeting situation type and the collision avoidance rule, and executing step S702 when the ship is the yielding ship;
step S702, determining the current information of the ship, the current information of the target ship and the initial course
Initial rotation speed NP =91, target heading; the current information of the ship comprises the current position of the ship, the current rotating speed of the ship and the current course of the ship; the current information of the target ship comprises the current position of the target ship, the current rotating speed of the target ship and the current course of the target ship;
s703, setting the redirection step length to be 1 degree, and discretizing the redirection interval [ -90 degrees, 90 degrees ] of the ship into 181 steering elements; setting the step length of the rotating speed as-1 r/min, and discretizing a rotating speed interval [35r/min, 91r/min ] into 57 rotating speed elements;
step S704, judging whether the initial course amplitude is smaller than 90 degrees, if so, simulating the steering process of the ship from the current course to the target course according to the control system, and verifying whether the control scheme formed by the steering elements and the rotating speed elements belongs to a feasible control interval one by one; the control system comprises a three-degree-of-freedom ship control motion model, a fuzzy PID control system and other navigation speed control systems;
step S705, updating the ship information and calculating the steering process time from the start to the end of steering, wherein the steering process time is the deduction time;
step S706, judging whether the current course of the ship reaches the target course; if the target course is reached, updating and determining the ship information and the target ship information at the redirection completion moment, and turning to S707; if not, the ship information and the target ship information are continuously updated according to the control system;
step S707, judging whether potential collision danger exists between the ship and the jth target ship within the deduction time, if so, increasing the redirection angle by 1 degree and turning to step S704, otherwise, turning to step S708;
and step S708, traversing all the target ships, updating corresponding redirection angles and corresponding redirection rotating speed sets, and recording and inputting the redirection angles and the corresponding redirection rotating speed sets into a feasible control interval set.
Considering that the number of marine obstacles and ships is possibly more, only considering whether a target ship or an obstacle enters the ship field of the ship within a certain deduction time range, and determining the deduction time to be 30 min.
In the specific calculation process, the step S707 of determining whether there is a potential collision risk between the own ship and the jth target ship within the deduction time may be: and solving the target motion model and the fuzzy quaternary ship field model of the ship simultaneously, wherein when two positive roots exist, the target ship enters the ship field of the ship in the deduction time, and when only one positive root or no root exists, the target ship does not enter the ship field of the ship in the deduction time.
Taking the vessel and a target vessel as an example for illustration, as shown in FIG. 8, the target vessel B keeps the direction and speed, and the initial course C of the vesselAInitial rotation speed NP1Target rotational speed NP2The preset right and left direction-changing angles are
、
. When the ship turns to the right and left, the target course is
、
At a preset target rotation speed NP, regardless of the ship maneuverability2The sailing track of the ship is a straight line L1' and L2'; in the embodiment of the invention, the nonlinear motion process of the ship is considered, and the preset target rotating speed NP is2Then, when the control system controls the ship to steer, the course and the position of the ship undergo a series of nonlinear changes, and the sailing track is a curve L1And L2. In FIG. 8, the ship changes direction to the right and forms an included angle with the positive direction of the y axis
I.e. the minimum critical angle for redirection to the right, below which the target vessel will enter (not enter) the own vessel field. The minimum critical angle of leftward turning of the ship can be obtained by the same method
. Range of change angle
Namely the speed obstacle area of the target ship B to the ship A, and the complement of the speed obstacle area is the feasible control interval of the ship. For a multi-target ship scene, the speed vector obstacle interval VO of the ship is taken as each target ship BiThe union of velocity obstacle intervals of (1):
its complement
Namely the feasible control interval of the ship under the multi-target ship scene. According to the embodiment of the invention, when the feasible operation region of the ship is determined, the nonlinear motion process of the ship and the fuzzy PID control system are considered, so that the accuracy of determining the feasible operation region can be further improved, and the reliability of the intelligent navigation method for the limited water area can be further improved.
In some embodiments of the present invention, as shown in fig. 9, the method for obtaining the navigation angle includes:
in the formula (I), the compound is shown in the specification,
the target course to be tracked is taken as the course of the target, and the angle corresponding to the course of the target to be tracked is the navigation angle;
the vertical distance between the center of the ship and the planned route;
radius of the LOS circle;
in order to take the ship as the center,
the abscissa of the intersection point of the circle with the radius and one side of the planned route close to the steering point; and x is the abscissa of the current position of the ship.
In some embodiments of the present invention, the ship executes an optimal collision avoidance strategy, specifically:
and controlling the ship to execute the optimal collision avoidance strategy based on a control system, so that the ship runs according to a target steering angle and a target rotating speed.
The maneuverability of a marine vessel affects not only the collision avoidance decisions of the operating system, but also the inference of the operating system on the motion of the target vessel. Fuzzy PID is an efficient and robust linear control model. By determining appropriate PID parameters, the method can obtain fast response speed and high controllability. It is very suitable for control system with accurate mathematical model, and is the most common method in modern control engineering. Thus, the fuzzy PID control system is herein combined with a three free vessel maneuvering motion model to approximate the vessel's maneuverability.
Further, updating and determining ship information at the moment of finishing redirection in the ship navigation process specifically comprises the following steps:
and updating and determining the ship information in real time through a three-degree-of-freedom ship Maneuvering Motion (MMG) model.
Wherein, the MMG model is as follows:
in the formula (I), the compound is shown in the specification,
，
respectively adding transverse and longitudinal additional mass to the ship; u, v and r are the speed and steering angular speed of the ship along the x axis and the y axis respectively;
、
、
acceleration and steering angle acceleration of the ship along the x-axis and the y-axis respectivelyDegree;
、
respectively, yaw moment of inertia and additional moment of inertia; n, P, Q are forces and moments in the lateral, longitudinal and yaw directions, respectively, and X, Y, Z are forces and moments on the hull, propeller and rudder, respectively.
In order to better implement the limited water area intelligent navigation method in the embodiment of the present invention, on the basis of the limited water area intelligent navigation method, correspondingly, as shown in fig. 10, an embodiment of the present invention further provides a limited water area intelligent navigation apparatus 1000, including:
a real-time navigation environment scene construction module 1001 configured to construct a real-time navigation environment scene model of a limited water area, where the real-time navigation environment scene model includes a plurality of target ships and a plurality of static obstacles;
the meeting situation type determining module 1002 is configured to determine a meeting situation type of the ship and the target ship according to a collision avoidance rule, a potential collision risk judgment model and a bulwark angle mutual comparison method;
a collision risk quantitative model building module 1003, which is used for building a fuzzy quaternary ship field model of the ship and building a collision risk quantitative model fusing time collision risk and space collision risk according to the fuzzy quaternary ship field model, the Gaussian asymmetric equation and the navigation practice;
the collision danger judging module 1004 is used for calculating collision danger values between the ship and the target ships according to the collision danger quantitative model and determining whether collision danger exists between the ship and the target ships according to the collision danger values;
a feasible operation interval determining module 1005, configured to determine, when there is a collision risk between the host vessel and the target vessels, a feasible operation interval in which the host vessel can let all the target vessels and obstacles clear according to the real-time navigation environment scene model, the meeting situation type, the three-degree-of-freedom vessel operation motion model, the fuzzy PID control system, and the improved speed obstacle model; the feasible manipulation interval comprises a plurality of steering angles and a plurality of rotating speeds corresponding to the steering angles;
a collision avoidance strategy determining module 1006, configured to use a minimum steering angle in the feasible manipulation interval as a target steering angle, use a rotation speed corresponding to the target steering angle as a target rotation speed, and use a set formed by the target steering angle and the target rotation speed as an optimal collision avoidance strategy;
and the re-navigation module 1007, which executes the optimal collision avoidance strategy by the ship, and after collision avoidance is finished, uses the built re-navigation model to obtain a re-navigation angle based on the relative position of the ship and the planned route and the nonlinear motion state information of the ship, and controls the ship to re-navigate according to the re-navigation angle.
The limited-water-area intelligent navigation device 1000 provided in the foregoing embodiment may implement the technical solutions described in the foregoing limited-water-area intelligent navigation method embodiments, and the specific implementation principles of the modules or units may refer to the corresponding contents in the foregoing limited-water-area intelligent navigation method embodiments, and are not described herein again.
The method and the device for intelligent sailing of the limited water area provided by the invention are described in detail, a specific example is applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An intelligent navigation method for a limited water area is characterized by comprising the following steps:
constructing a real-time navigation environment scene model of a limited water area, wherein the real-time navigation environment scene model comprises a plurality of target ships and a plurality of static obstacles;
determining the meeting situation type of the ship and the target ship according to the collision avoidance rule, the potential collision danger judgment model and the bulwark angle mutual comparison method;
establishing a fuzzy quaternary ship field model of the ship, and constructing a collision risk degree quantification model fusing a time collision risk degree and a space collision risk degree according to the fuzzy quaternary ship field model, a Gaussian asymmetric equation and navigation practice;
calculating collision risk values between the ship and the target ships according to the collision risk quantitative model, and determining whether collision risks exist between the ship and the target ships according to the collision risk values;
when collision danger exists between the ship and the target ships, determining a feasible operation interval of the ship for clearing all the target ships and obstacles according to the real-time navigation environment scene model, the meeting situation type, the three-degree-of-freedom ship operation motion model, the fuzzy PID control system and the improved speed obstacle model; the feasible manipulation interval comprises a plurality of steering angles and a plurality of rotating speeds corresponding to the steering angles;
taking the minimum steering angle in the feasible manipulation interval as a target steering angle, taking the rotating speed corresponding to the target steering angle as a target rotating speed, and taking a set consisting of the target steering angle and the target rotating speed as an optimal collision avoidance strategy;
and the ship executes the optimal collision avoidance strategy, and after collision avoidance is finished, a built re-navigation model is adopted to obtain a re-navigation angle based on the relative position of the ship and the planned route and the nonlinear motion state information of the ship, and the ship is controlled to re-navigate according to the re-navigation angle.
2. The intelligent navigation method for the limited water area according to claim 1, wherein the constructing of the real-time navigation environment scene model of the limited water area comprises:
acquiring an electronic chart, AIS data and automatic radar plotter data of a limited water area;
and constructing the real-time navigation environment scene model according to the electronic chart, the AIS data and the automatic radar plotter data, wherein the real-time navigation environment scene model comprises a plurality of target ships and a plurality of static obstacles.
3. The intelligent navigation method for the limited water area according to claim 1, wherein the determining of the meeting situation type of the ship and the target ship according to the collision avoidance rule, the potential collision danger judgment model and the bulwark angle mutual comparison method comprises:
calculating the latest meeting time of the ship and the target ship;
judging whether the ship and the target ship have potential collision danger or not according to the potential collision danger judgment model and the fuzzy quaternary ship field model;
when the ship and the target ship have potential collision danger, determining the bulwark angle of the ship relative to the target ship and the bulwark angle of the target ship relative to the ship, and determining the meeting situation type of the ship and the target ship according to a bulwark angle mutual comparison method, the recent meeting time, the bulwark angle of the ship relative to the target ship and the bulwark angle of the target ship relative to the ship.
4. The intelligent sailing method for confined waters of claim 3, wherein the meeting situation types include encounter, overtaking, and crossing; determining the meeting situation type of the ship and the target ship according to the mutual comparison method of the bulwarks, the recent meeting time, the bulwark angle of the ship relative to the target ship and the bulwark angle of the target ship relative to the ship, specifically:
when the recent meeting time is more than zero, and the angle Q of the target ship relative to the ship is belonged to [ 0], 6 DEG, U [354 DEG, 360 DEG ], and the angle Q1 of the ship relative to the target ship is belonged to [0 DEG, 6 DEG ], U [354 DEG, 360 DEG ], the meeting situation type is a meeting situation;
when the recent meeting time is more than zero, and the bulwark angle Q epsilon [0 degrees, 112.5 degrees ] of the target ship relative to the ship and the bulwark angle Q1 epsilon [0 degrees, 247.5 degrees ] of the target ship relative to the ship are larger than zero, the meeting situation type is a meeting situation;
when the recent meeting time is more than zero, and the bulwark angle Q epsilon [247.5 degrees and 360 degrees ] of the target ship relative to the target ship and the bulwark angle Q1 epsilon [247.5 degrees and 360 degrees ] of the target ship relative to the target ship, the meeting situation type is a meeting situation;
when the recent meeting time is more than zero, and the port angle Q of the target ship relative to the ship belongs to [ 0], 90 DEG, U [270 DEG, 360 DEG ], and the port angle Q1 of the target ship relative to the ship belongs to [112.5 DEG, 247.5 DEG ], the meeting situation type is a overtaking situation, and the ship is a way-giving ship;
when the recent meeting time is more than zero, and the port angle Q of the target ship relative to the ship belongs to [112.5 degrees, 247.5 degrees ], and the port angle Q1 of the ship relative to the target ship belongs to [0 degrees, 90 degrees ], U [270 degrees, 360 degrees ], the meeting situation type is a overtaking situation, and the ship is a straight ship;
when the latest meeting time is more than zero, the bulwark angle Q of the target ship relative to the ship belongs to [0 degrees, 112.5 degrees ], and the meeting situation type is not an encounter situation or a pursuing situation, the meeting situation type is a cross situation, and the ship is a way-giving ship;
and when the latest meeting time is more than zero, the bulwark angle Q of the target ship relative to the ship belongs to [247.5 degrees, 360 degrees ], and the meeting situation type is not an encounter situation or a pursuing situation, the meeting situation type is a cross situation, and the ship is a straight ship.
5. The intelligent navigation method for the limited water area according to claim 1, wherein the collision risk quantification model is:
in the formula (I), the compound is shown in the specification,
is the collision risk value;
is a spatial collision risk value;
is a time collision risk value;
is a synthesis operator;
is a natural constant;
the distance scale factor of the ship and the target ship is obtained;
time scale factors of the ship and the target ship are obtained;
the value is 0.6 for the safety threshold of the collision risk degree;
the distance between the ship and the target ship is obtained;
the relative speed course angle between the ship and the target ship is obtained;
the azimuth angle of the target ship relative to the own ship;
the distance from the ship center of the ship to the boundary of the fuzzy quaternary ship field model of the ship is obtained;
is a time constant;
is the relative velocity between the own vessel and the target vessel.
6. The intelligent sailing method for limited waters of claim 5, wherein determining whether there is a risk of collision between the own ship and the target ships according to the collision risk values comprises:
when the space collision risk value
When the ship is less than 0.6, the ship and the target ship are not in collision danger;
when the space collision risk value
Greater than 0.6, and said time collision risk value
When the ship is less than 0.6, the ship and the target ship are not in collision danger;
when the space collision risk value
Greater than 0.6, and said time collision risk value
And when the current ship is larger than 0.6, the ship and the target ship have collision danger.
7. The intelligent restricted water area navigation method according to claim 1, wherein the determining of the feasible operation region of the ship according to the real-time navigation environment scene model, the meeting situation type, the three-degree-of-freedom ship operation motion model, the fuzzy PID control system and the improved speed obstacle model comprises:
step S1, determining whether the ship is a yielding ship or not according to the meeting situation type and the collision avoidance rule, and executing step S2 when the ship is the yielding ship;
step S2, determining the current information of the ship, the current information of the target ship and the initial heading
Initial rotation speed NP =91, target heading; the current information of the ship comprises the current position of the ship, the current rotating speed of the ship and the current course of the ship; the current information of the target ship comprises the current position of the target ship, the current rotating speed of the target ship and the current course of the target ship;
step S3, setting the redirection step length as 1 degree, and discretizing the redirection interval [ -90 degrees, 90 degrees ] of the ship into 181 steering elements; setting the step length of the rotating speed as-1 r/min, and discretizing a rotating speed interval [35r/min, 91r/min ] into 57 rotating speed elements;
step S4, judging whether the initial course amplitude is less than 90 degrees, if yes, simulating the steering process of the ship from the current course to the target course according to the control system, and verifying whether the control scheme formed by the steering elements and the rotating speed elements belongs to a feasible control interval one by one; the control system comprises a three-degree-of-freedom ship control motion model and a fuzzy PID control system;
step S5, updating the ship information and calculating the steering process time from the start to the end of steering, wherein the steering process time is the deduction time;
step S6, judging whether the current course of the ship reaches the target course; if the target course is reached, updating and determining the ship information and the target ship information at the redirection completion moment, and turning to S7; if not, the ship information and the target ship information are continuously updated according to the control system;
step S7, judging whether potential collision danger exists between the ship and the j target ship within the deduction time, if so, increasing the redirection angle by 1 degree and turning to step S4, otherwise, turning to S8;
step S8: and traversing all the target ships, updating the corresponding redirection angles and the corresponding redirection rotating speed sets, and recording and inputting the redirection angles and the corresponding redirection rotating speed sets into the feasible control interval sets.
8. The intelligent navigation method for the limited water area according to claim 7, wherein the navigation angle solving method comprises the following steps:
in the formula (I), the compound is shown in the specification,
the target course to be tracked is taken as the course of the target, and the angle corresponding to the course of the target to be tracked is the navigation angle;
the vertical distance between the center of the ship and the planned route;
radius of the LOS circle;
in order to take the ship as the center,
the abscissa of the intersection point of the circle with the radius and one side of the planned route close to the steering point; and x is the abscissa of the current position of the ship.
9. The intelligent sailing method for the limited waters of claim 7, wherein the ship executes the optimal collision avoidance strategy, specifically:
controlling the ship to execute the optimal collision avoidance strategy based on a control system, so that the ship sails according to a target steering angle and a target rotating speed;
the updating and determining of the ship information at the redirection completion moment specifically comprises the following steps:
and updating and determining the ship information in real time through the three-degree-of-freedom ship control motion model.
10. The utility model provides a restricted waters intelligence navigation device which characterized in that includes:
the real-time navigation environment scene construction module is used for constructing a real-time navigation environment scene model of the limited water area, and the real-time navigation environment scene model comprises a plurality of target ships and a plurality of static obstacles;
the meeting situation type determining module is used for determining the meeting situation type of the ship and the target ship according to the collision avoidance rule, the potential collision danger judging model and the bulwark angle mutual comparison method;
the collision risk quantitative model building module is used for building a fuzzy quaternary ship field model of the ship and building a collision risk quantitative model fusing time collision risk and space collision risk according to the fuzzy quaternary ship field model, the Gaussian asymmetric equation and the navigation practice;
the collision danger judging module is used for calculating collision danger values between the ship and the target ships according to the collision danger quantitative model and determining whether collision danger exists between the ship and the target ships according to the collision danger values;
the feasible operation interval determining module is used for determining the feasible operation intervals of all target ships and obstacles which can be yielded by the ship according to the real-time navigation environment scene model, the meeting situation type, the three-degree-of-freedom ship operation motion model, the fuzzy PID control system and the improved speed obstacle model when collision danger exists between the ship and the target ships; the feasible manipulation interval comprises a plurality of steering angles and a plurality of rotating speeds corresponding to the steering angles;
the collision avoidance strategy determining module is used for taking the minimum steering angle in the feasible manipulation interval as a target steering angle, taking the rotating speed corresponding to the target steering angle as a target rotating speed, and taking a set formed by the target steering angle and the target rotating speed as an optimal collision avoidance strategy;
and the self-propelled ship executes the optimal collision avoidance strategy, and after collision avoidance is finished, a constructed re-propelled model is adopted to obtain a re-propelled angle based on the relative position of the self-propelled ship and a planned route and the nonlinear motion state information of the ship, and the self-propelled ship is controlled to carry out re-propelled according to the re-propelled angle.
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| CN116312063A (en) * | 2023-05-23 | 2023-06-23 | 中国船舶集团有限公司第七〇七研究所 | Ship avoidance decision method, device, equipment and medium |
| CN117826824A (en) * | 2024-01-18 | 2024-04-05 | 交通运输部水运科学研究所 | Ship self-adaptive autonomous navigation decision-making method and device and electronic equipment |
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