Ship Intelligent Collision Avoidance System and Method Based on Maneuverability Modeling

Abstract

The invention provides a ship intelligent collision avoidance system based on manoeuvrability modeling, comprising a state sensing subsystem, wherein the state parameters of the ship and the positioninformation of an obstacle are obtained; the maneuverability modeling module processes the ship's own state parameters, constructs the sample pairs, carries on the ship maneuverability on-line modeling, and predicts the ship's possible arrival position at the next time under all feasible maneuverability. The intelligent collision avoidance module combines the position information of the obstacle,Binary navigable area information and collision avoidance rules are used to carry out dynamic path planning. In path planning, the maneuverability modeling module predicts the possible arrival position of the ship at the next time as a constraint, outputs a reasonable planning path point sequence, and decouples it into a heading tracking sequence and a speed tracking sequence. Track the planned real-time heading and speed respectively. The invention realizes the intelligent collision avoidance decision of the ship on the basis of the on-line prediction of the ship maneuverability, and realizesthe safe and autonomous navigation of the ship.

Description

technical field The invention belongs to the field of intelligent ships, and in particular relates to an intelligent ship collision avoidance system and method based on maneuverability modeling. Background technique With the intelligent and unmanned development of large ships, the intelligent control and decision-making of ships are facing various problems and challenges. Among them, ship intelligent collision avoidance technology is a key technology for ship intelligent control and decision-making, including key content such as judgment of ship collision risk, decision-making of avoidance methods in various encounter situations, and path planning in collision avoidance. At present, the research on ship collision avoidance at the macro level is mainly aimed at the interpretation, application and improvement of the international maritime collision avoidance rules, and the establishment of a collision avoidance decision system using neural networks, expert systems or fuzzy ex...

AI Technical Summary

Problems solved by technology

The collision avoidance systems formed by these studies have not considered the handling characteristics of ships such as large inertia, large time delay, strong nonlinearity, complex external disturbances, and actuator saturation. Maritime traffic accidents, resulting in unexpected and serious consequences

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