内河航道船舶避碰轨迹规划与预测
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摘要
针对我国内河航道技术缺乏智能安全辅助机制问题,阐述智能安全辅助概念以及船舶安全领域模型,提出基于贝叶斯网络的船舶避碰和轨迹规划方法预测船舶行为和高斯分布获取碰撞节点,结合船舶安全领域和碰撞环境,建立避碰网络结构和轨迹规划方法。最后,通过数字模拟实验验证该方法的有效性,为内河航道智能安全辅助技术的开发奠定了基础。
For the lack of intellectualized safety assistance mechanism in the development of inland waterway technology in China,the concept and positioning of safety assistance are firstly defined.Based on Bayesian network,the methods of collision avoidance and trajectory planning are then put forward.Ship behavior is predicted on the basis of Bayesian algorithm and collision nodes are obtained on the basis of Gauss segment.Combined with ship safety field and collision environment,collision risk is predicted so as to seek the method of the collision avoidance network structure and trajectory planning.The feasibility of the method is finally verified by digital simulation experiments,which could lay a foundation for the development of intelligent safety auxiliary system of inland waterway.
For the lack of intellectualized safety assistance mechanism in the development of inland waterway technology in China,the concept and positioning of safety assistance are firstly defined.Based on Bayesian network,the methods of collision avoidance and trajectory planning are then put forward.Ship behavior is predicted on the basis of Bayesian algorithm and collision nodes are obtained on the basis of Gauss segment.Combined with ship safety field and collision environment,collision risk is predicted so as to seek the method of the collision avoidance network structure and trajectory planning.The feasibility of the method is finally verified by digital simulation experiments,which could lay a foundation for the development of intelligent safety auxiliary system of inland waterway.
引文
[1]陈国权.船舶避碰自动化关键技术研究[D].大连:大连海事大学,2016.
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[2]梅朝阳,熊勇,蔡韡,等.基于最优控制的静水面多船避碰控制研究[J].交通科技,2014(2):159-162.
[3]Perera L P,Carvalho J P,Soares C G.Bayesian Network based sequential collision avoidance action execution for an Ocean Navigational System[J].IFACProceedings Volumes,2010,43(20):266-271.
[4]甄荣,金永兴,胡勤友,等.基于AIS信息和BP神经网络的船舶航行行为预测[J].中国航海,2017,40(2):6-10.
[5]徐周华,牟军敏,季永清.内河水域船舶领域三维模型的研究[J].武汉理工大学学报(交通科学与工程版),2004(3):380-383.
[6]AgnieszkaLazarowska.A new deterministic approach in a decision support system for ship’s trajectory planning[J].Expert Systems With Applications,2017,71.Lazarowska A.A new deterministic approach in a decision support system for ship's trajectory planning[M].Oxford:Pergamon Press,Inc.2017.
[7]李冰.内河水域船舶失控撞桥概率研究[D].武汉:武汉理工大学,2010.