Automatic collision avoidance method for ships based on velocity vector coordinate system

Abstract

The present invention provides an automatic collision avoidance method for ships based on a speed vector coordinate system: (1) using a certain ship as a mass point to obtain obstacle information around the ship; (2) judging the relationship between the ship and the ship through a collision prediction model Whether the surrounding obstacles are in danger of collision, if there is a danger, go to step (3), if there is no danger, go back to step (1); (3), in the speed vector coordinate system, calculate whether the ship can move out of the collision area The relative speed of the ship is used to calculate the absolute speed of the ship based on the relative speed; (4) Use the absolute speed of the ship to adjust the course of the ship under the autopilot controller until the current speed of the ship is the absolute speed; (5) Repeat Cycle steps (1)-step (4) to realize automatic collision avoidance of ships based on the speed vector coordinate system. The present invention can not only determine whether there is a risk of collision between ships but also provide a 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 velocity 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 navi...

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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