摘要
为保障水面船舶航行安全,提出恶劣海况中水面船舶航行防撞控制方法。构建恶劣海况下船舶航行的三维环境地图,将恶劣海况环境模型定义为水面船舶航行路径规划搜索空间,引入侵野草优化算法,设定代价评估函数,确定该代价评估函数下的三维最优航行曲面内的最优航行路径;将航路路径规划结果与速度障碍法相结合,依照船舶与障碍物的相对速度构建速度障碍区域,基于航行路径规划结果对所构建区域实施叠加拓展,得到速度障碍区域,结合代价函数确定最优防撞速度,实现动态防撞控制。实验结果显示,该方法能够准确构建恶劣海况中的船舶航行地图,确定该环境下的最优路径,实现恶劣海况中的水面船舶航行防撞控制。
To ensure the safety of surface vessel navigation,a collision prevention control method for surface vessel navigation in adverse sea conditions is proposed.Construct a three-dimensional environment map for ship navigation under adverse sea conditions,define the adverse sea condition environment model as the search space for ship navigation path planning on the water surface,introduce the invasive weed optimization algorithm,set a cost evaluation function,and determine the optimal navigation path within the three-dimensional optimal navigation surface under this cost evaluation function;Combining the results of route planning with the speed obstacle method,a speed obstacle area is constructed based on the relative velocity between the ship and obstacles.Based on the navigation path planning results,the constructed area is overlaid and expanded to obtain the speed obstacle area.The optimal collision avoidance speed is determined by combining the cost function to achieve dynamic collision avoidance control.The experimental results show that this method can accurately construct ship navigation maps in harsh sea conditions,determine the optimal path in this environment,and achieve collision prevention control for surface ships in harsh sea conditions.
作者
李朋
范利军
Li Peng;Fan Lijun(Navigation College,Hubei Communication Vocational and Technical College,Wuhan 430202,China)
出处
《舰船科学技术》
北大核心
2024年第22期81-84,共4页
Ship Science and Technology
关键词
恶劣海况
船舶航行
防撞控制
航行路径规划
相对速度
防撞速度
adverse sea conditions
ship navigation
collision avoidance control
navigation path planning
relative velocity
collision avoidance speed
