Ship navigation automatic collision avoidance route planning method and model

A route planning and collision avoidance technology, applied in non-electric variable control, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve the problems of reducing the benefit of ECDIS navigation aids and increasing human errors, and achieve Effects that are easy to scale up, reduce impact, and have a wide range of applications

Pending Publication Date: 2020-06-05
SHANDONG JIAOTONG UNIV
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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 s

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  • Ship navigation automatic collision avoidance route planning method and model
  • Ship navigation automatic collision avoidance route planning method and model
  • Ship navigation automatic collision avoidance route planning method and model

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[0053] Step 1: If figure 2 As shown in (a), a certain initial route S-T (the shortest voyage distance of the rhumb line adopted between two points on the Maxwell chart) passes through an obstacle A, input the safety distance for collision avoidance, and use the domain analysis function of the GIS system to expand the obstacle The range of objects becomes obstacle A whose vertex is 1-2-3-4-5-6, and then enters step 2.

[0054] Step 2: Set the start point S and the end point T as the current test point and the destination point respectively, and establish a connection line between the two points, which is the S-T test line such as image 3 (b) shown. After the GIS layer overlay analysis confirms that there is an intersection between the test line and obstacle A, then it is judged that the current test point S is not any vertex on the boundary of the nearest obstacle A, and then enter step 4.

[0055] Step 3: Connect the vertices on the boundary of the obstacle A from point S ...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 马建文王波
Owner SHANDONG JIAOTONG UNIV
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