Multi-ship encounter collision prevention method for bacterial foraging optimization

Abstract

The invention belongs to the technical field of planning of automatic collision prevention paths of ships, and mainly relates to a multi-ship encounter collision prevention method for bacterial foraging optimization. The multi-ship encounter collision prevention method comprises the following steps: establishing a required simulation interface of a ship simulation test, and determining parameters of a ship and each target chip in multi-ship encounter collision prevention; judging an encounter situation and analyzing collision risks; establishing a target function (an optimization algorithm target function) of the multi-ship encounter collision prevention method; determining a key ship which needs to prevent collision and risk based on a grey correlation analysis method: determining an ideal effect sequence: calling an improved bacterial foraging algorithm to optimize the multi-ship encounter collision prevention paths; completing the encounter collision prevention sailing, re-sailing and restoring original courses. According to the multi-ship encounter collision prevention method, the quality of the bacteria is integrally analyzed based on a mean value and variance of the bacteria, and a last-time trended target function value is combined for judging bacteria for copy operation, so that the convergence rate and the searching precision of the algorithm are improved, and the efficiency of generating a multi-ship encounter collision prevention strategy is improved.

Description

technical field [0001] The invention belongs to the technical field of ship automatic collision avoidance path planning, and mainly relates to a multi-ship encounter collision avoidance method optimized by bacteria foraging. Background technique [0002] Ship automatic collision avoidance means that the ship forms an encounter situation with other ships during sea navigation, and it is determined through collision risk analysis that it is necessary to take collision avoidance actions. In the case of collecting and exchanging information autonomously within the ship, the best way to avoid collision of the ship is obtained through the optimization strategy, thereby generating an "economical" and "safe" navigation path for collision avoidance. Assisting the crew to quickly make collision avoidance decisions is conducive to reducing the occurrence of marine accidents. [0003] Among them, the collision avoidance decision-making problem in the case of multi-vessel encounters, be...

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Problems solved by technology

[0004] The bacterial foraging algorithm proposed by K.M.Passino in 2002 is a meta-heuristic search algorithm that simulates the foraging behavior of Escherichia coli. It not only has a strong global search ability, but also can efficiently solve many real-world optimization problems. In 2013, Ma Wenyao, Yang Jiaxuan and others realized the optimization of single ship collision avoidance route based on this algorithm (Ma Wenyao, Yang Jiaxuan. Research on collision avoidance route optimization based on bacterial foraging algorithm. Journal of Dalian Maritime University. 2013,39(2):21-24. ), but there are shortcomings in the algorithm implementation process, such as slow convergence speed, easy to fall into local premature, and low solution accuracy

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