Ship navigation automatic collision avoidance route planning method and model

Abstract

The invention discloses a ship navigation automatic collision avoidance route planning method and model. The method comprises the following steps: collecting information of an obstacle, a starting point and a destination point, and according to the collected information, when the ship encounters the obstacle in a route planning process, firstly calculating a minimum angle connecting line of the ship capable of avoiding the obstacle, namely a connecting line with a maximum included angle with a test line, and directly recording two possible driving paths on the left side and the right side of the obstacle; and then, when the ship detours along the obstacle, testing each vertex of the obstacle and the middle airway point, respectively calculating and selecting connecting lines with the largest included angles between the left side and the test line and between the right side and the test line, comparing the two connecting lines, and taking the connecting line with the smaller included angle as an alternative route segment to determine a unique route capable of detouring. Compared with the prior art, the ship navigation automatic collision avoidance route planning method and model have the advantages that the route is automatically planned, the requirement of the ship for automatically avoiding collision with obstacles is met, and the method and model have important significance in solving the problems of ship stranding collision and the like and improving marine navigation safety.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to a practical route planning method and model for automatic collision avoidance of ships. Background technique [0002] Coastal waters often have complex traffic flow, numerous waterways, islands and reefs, and dense reefs and shoals. Captains who often sail in coastal waters will feel the pressure to ensure safe navigation. Among the basic measures to ensure the safety of ships' navigation, the reasonable planning of shipping routes is a very important measure, and it is also one of the most basic measures. With the implementation of the strategy of building a strong country in transportation, the number of coastal ships in my country will increase significantly, which will inevitably increase the traffic flow density and make local navigation conditions more complicated. At present, when ships sail in coastal waters, they still use the traditional crew to steer the s...

AI Technical Summary

Problems solved by technology

At present, the electronic chart display and information system (ECDIS) has been widely used on ships to assist route planning; however, the current ECDIS only has a warning function when encountering obstacles, and the crew still needs to manually adjust the steering point according to personal navigation experience. Re-plan the route to avoid collisions, which greatly reduces the effectiveness of ECDIS and increases the possibility of human error

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