舰船自动智能避碰数学模型及其仿真研究
|
摘要
为了提高舰船航行的安全和效率,达到最佳操船效果,需要建立舰船自动智能避碰数字模型。当前模型在分析舰船避碰风险度的基础上,通过人工智能、进化计算和软计算等方法实现舰船自动智能避碰,存在避碰识别准确率较低的问题。本文提出一种新的舰船自动智能避碰数学模型,首先对舰船会遇态势进行判断;然后建立预测舰船碰撞风险判断模型,预测本舰船实施自动智能避碰方案后的复航时机是否已到,以及本舰船立即复航是否能够让清目标舰船或其他所有目标舰船;最后依据舰船碰撞风险判断结果,以当前舰船潜在碰撞风险为例,建立舰船自动智能避碰数学模型。仿真结果证明,所提模型能够实现舰船自动智能避碰。
In order to improve the safety and efficiency of ship navigation, to achieve the best boat effect, the need for ship automatic intelligent collision avoidance digital model to study. Based on the analysis of the risk of collision avoidance,the current model can realize the automatic collision avoidance of ships by means of artificial intelligence, evolutionary computation and soft computing. There is a problem that the accuracy of collision avoidance is low. In this paper, a new mathematical model of automatic collision avoidance of ships is proposed. First, the situation of ship encounters is judged. Then, the ship collision risk judgment model is established to predict the recovery of the ship after the automatic intelligent collision avoidance whether the ship has arrived, and whether the ship can be re-deployed immediately to clear the target ship or all other target ships. Finally, according to the ship collision risk judgment results, the current ship potential collision risk, for example, the establishment of ship automatic intelligence collision mathematical model. Computer simulation experiments show that the proposed model can achieve the ship automatic intelligent collision avoidance.
In order to improve the safety and efficiency of ship navigation, to achieve the best boat effect, the need for ship automatic intelligent collision avoidance digital model to study. Based on the analysis of the risk of collision avoidance,the current model can realize the automatic collision avoidance of ships by means of artificial intelligence, evolutionary computation and soft computing. There is a problem that the accuracy of collision avoidance is low. In this paper, a new mathematical model of automatic collision avoidance of ships is proposed. First, the situation of ship encounters is judged. Then, the ship collision risk judgment model is established to predict the recovery of the ship after the automatic intelligent collision avoidance whether the ship has arrived, and whether the ship can be re-deployed immediately to clear the target ship or all other target ships. Finally, according to the ship collision risk judgment results, the current ship potential collision risk, for example, the establishment of ship automatic intelligence collision mathematical model. Computer simulation experiments show that the proposed model can achieve the ship automatic intelligent collision avoidance.
引文
[1]陈姚节,李爽,范桓,等.基于速度矢量坐标系的多船自动避碰研究[J].计算机仿真,2015,32(6):420-424.CHEN Yao-jie,LI Shuang,FAN Huan,et al.Automatic collision avoidance of multi-ships based on velocity vector coordinate[J].Computer Simulation,2015,32(6):420-424.
[2]管小清,常青,梁冠豪,等.一种冗余机械臂的多运动障碍物避障算法[J].计算机测量与控制,2015,23(8):2802-2805.GUAN Xiao-qing,CHANG Qing,LIANG Guan-hao,et al.Multiple mobile obstacles avoidance algorithm for redundant manipulator[J].Computer Measurement&Control,2015,23(8):2802-2805.
[3]尹新城,胡勇,牛会敏.未知环境中机器人避障路径规划研究[J].科学技术与工程,2016,16(33):221-226.YIN Xin-cheng,HU Yong,NIU Hui-min.Path planning study for robot obstacle avoidance in unknown environment[J].Science Technology and Engineering,2016,16(33):221-226.
[4]周恺.信息素模糊逻辑导引的机器人室内避障算法[J].科技通报,2015,31(12):220-222.ZHOU Kai.Indoor robot obstacle avoidance algorithm introduction of pheromone fuzzy logic guidance[J].Bulletin of Science and Technology,2015,31(12):220-222.
[5]刘彦戎.基于STC89C51RC单片机的智能遥感避障小车的系统设计[J].电子设计工程,2017,25(3):45-48.LIU Yan-rong.Design of intelligent obstacle avoidance car remote sensing system based on STC89C51RC microcontroller[J].Electronic Design Engineering,2017,25(3):45-48.
[6]曹海.人工免疫算法的船舶避碰智能策略研究[J].舰船科学技术,2016,38(2):10-12.CAO Hai.Research on intelligent strategy of ship collision avoidance of artificial immune algorithm[J].Ship Science and Technology,2016,38(2):10-12.
[7]贺益雄,黄立文,牟军敏,等.交叉相遇局面让路船自动避碰行动方案[J].哈尔滨工程大学学报,2015(8):1024-1029.HE Yi-xiong,HUANG Li-wen,MOU Jun-min,et al.A scheme for automatic collision avoidance of a give-way vessel in the crossing situation[J].Journal of Harbin Engineering University,2015(8):1024-1029.
[8]熊勇,贺益雄,黄立文.基于速度障碍的多船自动避碰控制方法[J].中国航海,2015,38(3):46-51.XIONG Yong,HE Yi-xiong,HUANG Li-wen.Multi-ship collision avoiding control considering velocity obstacle[J].Navigation of China,2015,38(3):46-51.
[9]吕红光,尹勇,尹建川.混合智能系统在船舶自动避碰决策中的应用[J].大连海事大学学报,2015,41(4):29-36.LV Hong-guang,YIN Yong,YIN Jian-chuan.Application of hybrid intelligent systems in automatic collision avoidance decision-making for ships[J].Journal of Dalian Maritime University,2015,41(4):29-36.
[10]吴蓓.船舶避碰中灰色数据挖掘研究[J].舰船科学技术,2016,38(9A):151-153.WU Bei.The research of gray data mining algorithm in the ship collision avoidance system[J].Ship Science and Technology,2016,38(9A):151-153.
[2]管小清,常青,梁冠豪,等.一种冗余机械臂的多运动障碍物避障算法[J].计算机测量与控制,2015,23(8):2802-2805.GUAN Xiao-qing,CHANG Qing,LIANG Guan-hao,et al.Multiple mobile obstacles avoidance algorithm for redundant manipulator[J].Computer Measurement&Control,2015,23(8):2802-2805.
[3]尹新城,胡勇,牛会敏.未知环境中机器人避障路径规划研究[J].科学技术与工程,2016,16(33):221-226.YIN Xin-cheng,HU Yong,NIU Hui-min.Path planning study for robot obstacle avoidance in unknown environment[J].Science Technology and Engineering,2016,16(33):221-226.
[4]周恺.信息素模糊逻辑导引的机器人室内避障算法[J].科技通报,2015,31(12):220-222.ZHOU Kai.Indoor robot obstacle avoidance algorithm introduction of pheromone fuzzy logic guidance[J].Bulletin of Science and Technology,2015,31(12):220-222.
[5]刘彦戎.基于STC89C51RC单片机的智能遥感避障小车的系统设计[J].电子设计工程,2017,25(3):45-48.LIU Yan-rong.Design of intelligent obstacle avoidance car remote sensing system based on STC89C51RC microcontroller[J].Electronic Design Engineering,2017,25(3):45-48.
[6]曹海.人工免疫算法的船舶避碰智能策略研究[J].舰船科学技术,2016,38(2):10-12.CAO Hai.Research on intelligent strategy of ship collision avoidance of artificial immune algorithm[J].Ship Science and Technology,2016,38(2):10-12.
[7]贺益雄,黄立文,牟军敏,等.交叉相遇局面让路船自动避碰行动方案[J].哈尔滨工程大学学报,2015(8):1024-1029.HE Yi-xiong,HUANG Li-wen,MOU Jun-min,et al.A scheme for automatic collision avoidance of a give-way vessel in the crossing situation[J].Journal of Harbin Engineering University,2015(8):1024-1029.
[8]熊勇,贺益雄,黄立文.基于速度障碍的多船自动避碰控制方法[J].中国航海,2015,38(3):46-51.XIONG Yong,HE Yi-xiong,HUANG Li-wen.Multi-ship collision avoiding control considering velocity obstacle[J].Navigation of China,2015,38(3):46-51.
[9]吕红光,尹勇,尹建川.混合智能系统在船舶自动避碰决策中的应用[J].大连海事大学学报,2015,41(4):29-36.LV Hong-guang,YIN Yong,YIN Jian-chuan.Application of hybrid intelligent systems in automatic collision avoidance decision-making for ships[J].Journal of Dalian Maritime University,2015,41(4):29-36.
[10]吴蓓.船舶避碰中灰色数据挖掘研究[J].舰船科学技术,2016,38(9A):151-153.WU Bei.The research of gray data mining algorithm in the ship collision avoidance system[J].Ship Science and Technology,2016,38(9A):151-153.