Dummy Ship Boundary Collision Avoidance for Restricted Water Domains
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Solution Overview
Problem
Existing autonomous navigation systems for water vessels are inadequate for navigating restricted water domains, such as harbors and river courses, as they fail to effectively account for terrestrial and building factors, leading to challenges in collision avoidance and berthing.
Innovation Solution
The method involves establishing a plurality of 'dummy ships' along identifiable boundaries in restricted water domains, forming dummy ship and obstacle domains, and generating anti-collision circles to plan a collision avoidance navigation route.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional ship domain methods and safety circles are used for autonomous navigation, then collision avoidance between water vessels is improved, but navigation in restricted water domains involving terrestrial or building factors cannot be handled
Solution Approach 1:
The patent creates dummy ships as virtual copies along boundary lines to represent terrestrial obstacles. These dummy ships are generated by dividing the boundary into segments and placing dummy ships at each segment, allowing the navigation system to treat land boundaries as if they were water vessels, thus enabling the application of existing ship domain collision avoidance methods to restricted water domains.
Solution Approach 2:
The patent segments the continuous boundary line into multiple discrete boundary segments. Each segment becomes associated with a dummy ship, transforming a complex continuous boundary problem into multiple simpler discrete objects that can be individually processed by collision avoidance algorithms.
2Adaptability or versatility
If dummy ships are established along boundaries to represent terrestrial obstacles, then navigation in restricted water domains is enabled, but the system complexity increases due to multiple dummy ships and domains
Solution Approach 1:
The patent creates a universal dummy ship domain model that serves multiple functions: it represents terrestrial boundaries, defines navigation constraints, and enables collision avoidance calculations. The same mathematical framework and algorithmic approach used for real ship collision avoidance is applied to dummy ships, eliminating the need for separate complex handling logic for different obstacle types.
Data Source
AI summary
The present invention provides a vessel navigation boundary collision avoidance method. Specifically, the vessel navigation boundary collision avoidance method first performs step (A) of providing at least one boundary. In step (B), a plurality of dummy ships are established along the at least one boundary, wherein the dummy ships are freezing and each of the dummy ships is connected to at least a part of another via an intersection point. In step (C), a dummy ship domain and a dummy obstacle domain are sequentially formed according to each of the dummy ships and each of the intersection points. In step (D), a dummy ship anti-collision circle and a dummy obstacle anti-collision circle are sequentially generated based on the dummy ship domain and the dummy obstacle domain if a sailing ship domain is to have a possibility of invading the dummy ship domain and the dummy obstacle domain.