Model prediction control method for real-time automatic collision avoidance of multiple ships

Abstract

The invention provides a model prediction control method for real-time automatic collision avoidance of multiple ships, and the method comprises the steps: firstly, a real-time collision risk assessment model is built based on dynamic DCPA and TCPA to assess the collision risk between the ships; secondly, an international collision avoidance rule is used for judging the meeting situation of the ship and dividing the avoidance responsibility, an avoidance behavior decision is made from the two aspects of way-giving ships and direct navigation ships, and the situation that the ship does not see the rule is considered; and finally, a novel multi-ship automatic collision avoidance controller is designed by utilizing the predictive capability of model predictive control and the advantage of processing input limitation to solve the problems of large inertia, input limitation and the like in ship movement, so that the ships can take collision avoidance actions in advance and the problem of rudder angle saturation is solved. According to the method, automatic collision avoidance among multiple ships can be realized on the premise of considering international collision avoidance rules, and the problem of input saturation of rudder angles can be solved.

Description

technical field [0001] The invention relates to the technical field of ship collision avoidance, in particular to a model predictive control method for real-time automatic collision avoidance of multiple ships. Background technique [0002] The incidence of ship collision accidents has always accounted for a large proportion of various marine accidents, especially with the development of the shipping industry, sea traffic is becoming more and more crowded, and the risk of collision between multiple ships has greatly increased. According to statistics, more than 80% of ship collision accidents are attributed to human factors, that is, failure of human decision-making and non-compliance with international rules for collision avoidance. [0003] In recent years, with the continuous development of the shipping industry, traffic in many navigable waters has become increasingly dense, which has greatly increased the probability of collisions between multiple ships compared to two ...

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Problems solved by technology

However, in this study, only the problem of collision avoidance between two ships is considered, and the international rules for collision avoidance are ignored, so there are still some limitations in this study

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