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Intelligent collision avoidance method for navigation of commercial ship

An intelligent, collision avoidance technology, applied in the field of shipping, can solve problems such as insufficient consideration, failure to consider collision avoidance rules, and inability to guarantee real-time performance, so as to prevent ships from being stranded

Inactive Publication Date: 2021-08-03
武汉海兰鲸科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The algorithm based on the mathematical model is to carry out mathematical or physical modeling of the environment and dynamic ships, which has the advantage of deterministic solution. Some algorithms fail to consider the construction of the chart environment (static obstacles cannot be considered), and fail to consider collision avoidance rules or Insufficient consideration, the traditional artificial potential field method has a local minimum value, and the target point is not reachable; the artificial intelligence-based method has insufficient consideration of the rules, difficult data acquisition, and cannot guarantee real-time performance; hybrid intelligent systems such as comprehensive The humanoid intelligent system is usually limited to open waters, and the compliance with the obligations of direct sailing ships needs to be optimized; in summary, in the process of avoiding and returning to sailing, how to ensure real-time performance and avoid multiple static and dynamic obstacles at the same time? In this situation, considering the rules and giving reasonable suggested headings is a real problem in intelligent navigation

Method used

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  • Intelligent collision avoidance method for navigation of commercial ship
  • Intelligent collision avoidance method for navigation of commercial ship
  • Intelligent collision avoidance method for navigation of commercial ship

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0080] Embodiment 1: AIS data ship, negotiate avoidance situation:

[0081] When the relative speed direction line between own ship and other ship passes through the safe distance radius circle of the ship, and the distance between own ship and other ship is greater than the safe distance radius and smaller than CD (collision danger detection distance), a negotiated avoidance situation is formed. The own ship is subjected to the force from the waypoint and the force from the target ship, and the resultant force direction of the force is the suggested movement direction considering the influence of the target point and obstacles. It is common practice to choose right side avoidance when the ship avoids in the negotiating avoidance stage, and there are two situations: when the recommended movement direction is on the right side of the ship's heading, the suggested movement direction is the final suggested heading; when the suggested movement direction is on the right side of the ...

Embodiment 2

[0082] Embodiment 2: AIS data ship avoidance emergency stage

[0083]When the distance between the own ship and other ships is less than the safe distance radius of the ship, and the actual calculated DCPA and TCPA of the ship are both within the set emergency avoidance DCPA and TCPA thresholds, the emergency avoidance situation is formed at this time. The ship receives the force from the waypoint and the force from the obstacle, and the resultant direction of the force is the suggested direction of motion. Referring to the ship avoidance rules at sea, the emergency avoidance state no longer limits the avoidance direction, and the suggested movement direction is the suggested heading.

Embodiment 3

[0084] Embodiment 3: Radar Data Ship Avoidance

[0085] Use the historical radar data recorded by the real ship as a test. The historical data will simulate the existence of multi-target ships as obstacles around the ship, and simulate the multi-ship avoidance function of radar data. The present invention can obtain information such as the speed, orientation, distance and the like of these targets. When avoiding radar targets, it is usually multi-target avoidance, and different forces will be applied to the own ship according to the encounter time, distance, and degree of urgency between the target ship and the own ship. At the same time, the ship will still receive traction from the waypoint (considering the target point factor while avoiding dangerous obstacles). When encountering an obstacle that is not dangerous for the time being, the ship will not take evasive action; when encountering multiple dynamic obstacles that are dangerous, the ship will comprehensively consider...

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Abstract

The invention belongs to the field of ship shipping and relates to an intelligent collision avoidance method for navigation of a commercial ship. The method is characterized by comprising the following steps of: 1, acquiring radar, AIS and electronic chart data; 2, initializing parameters, and judging whether a target enters a detection range or not; 3, judging whether the target is a dynamic obstacle, a static obstacle or a target point; 4, selecting a steering angle; and 5, entering a new iteration after a certain time interval, and repeating the above steps. With the method of the invention adopted, environment information can be acquired in real time, a suggested course can be planned, and navigation decision can be assisted.

Description

technical field [0001] The invention relates to the field of ship shipping, in particular to an intelligent collision avoidance method for merchant ships. Background technique [0002] In the 2020 "Smart Ship Specifications", it is clearly pointed out that the intelligent navigation system refers to the use of advanced sensing technology and sensor information fusion technology to obtain and perceive the state information required for ship navigation, and to analyze and process it through computer technology and control technology. Provide decision-making suggestions for the navigation of ships. Under normal circumstances, the avoidance of the ship will adopt the processing method of maintaining speed by default, and only when the ship cannot pass the steering avoidance target, it will consider slowing down and yielding. At present, the collision avoidance methods commonly used in the field of ship collision avoidance can be divided into three categories: algorithms based o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 魏立桥肖遥徐斌
Owner 武汉海兰鲸科技有限公司
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