Automatic ship collision avoidance method based on velocity vector coordinate system

Abstract

The invention provides an automatic ship collision avoidance method based on a velocity vector coordinate system. The automatic ship collision avoidance method comprises the steps of: (1) regarding a ship as a particle, and acquiring information of obstacles surrounding the ship; (2) judging whether a risk of collision between the ship and the surrounding obstacles exists through a collision prediction model, if the risk exists then entering the step (3), and if not then returning to the step (1); (3) calculating a relative velocity, at which the ship can move out from a collision region, of the ship in the velocity vector coordinate system, and calculating an absolute velocity of the ship according to the relative velocity; (4), regulating a course of the ship via an autopilot controller by utilizing the absolute velocity of the ship until the current velocity of the ship is the absolute velocity; (5) and repeating the steps from step (1) to step (4) over and over again so as to achieve automatic ship collision avoidance based on the velocity vector coordinate system. The automatic ship collision avoidance method can judge whether the risk of collision among ships exists and can provide the collision avoidance method.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to an automatic ship collision avoidance method based on a speed vector coordinate system. Background technique [0002] The research on ship intelligent collision avoidance technology has always been a hotspot and frontier topic in the field of intelligent navigation research, and it is one of the key technologies to realize ship automation. Due to many factors involved, although people have made great efforts in the research of ship collision avoidance, the research progress of ship intelligent collision avoidance technology is relatively slow. For example, the problem of multi-vessel collision avoidance decision-making has not been well resolved, especially the more complex multi-vessel collision avoidance decision-making problem. [0003] The local collision avoidance of a ship means that when a ship encounters obstacles such as islands, ships, buoys, etc. during its navigat...

AI Technical Summary

Problems solved by technology

The existing ship local path planning research provides a certain reference for ship collision avoidance, but the premise of these methods is to regard the ship as a particle, ignore its maneuvering motion characteristics, and do not consider the influence of external conditions on ship navigation.

However, in a complex marine environment, ships are also affected by wind, waves and currents while avoiding obstacles. Therefore, this idealized method has limited reference significance for ships navigating on the actual sea to avoid collisions. It is not only necessary to consider how to carry out path planning in the case of fixed encounters, but also consider the path planning in dynamic cases

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