基于速度障碍和人工势场的受限水域船舶避碰决策方法

doi:10.16265/j.cnki.issn 1003-3033.2020.11.009

中国安全科学学报 ›› 2020, Vol. 30 ›› Issue (11): 60-66.doi: 10.16265/j.cnki.issn 1003-3033.2020.11.009

基于速度障碍和人工势场的受限水域船舶避碰决策方法

马杰^1,2,3 副教授, 苏钰栋^**1, 熊勇^1,2,3 副教授, 张煜^3,4 教授, 杨鑫¹

1 武汉理工大学航运学院,湖北武汉 430063;
2 内河航运技术湖北省重点实验室,湖北武汉 430063;
3 国家水运安全工程技术研究中心,湖北武汉 430063;
4 武汉理工大学物流工程学院,湖北武汉 430063

收稿日期:2020-08-21 修回日期:2020-10-13 出版日期:2020-11-28 发布日期:2021-07-15
通讯作者: **苏钰栋(1996—),男,河北邯郸人,硕士研究生,主要研究方向为船舶智能航行。E-mail:yudongsu123@foxmail.com。
作者简介:马杰 (1978—),男,湖北武汉人,博士,副教授,主要从事智能航海、智能感知与导航服务等方面的研究。E-mail: majie@ whut.edu.cn。
基金资助:
国家自然科学基金资助(51679182,71874132);绿色智能内河船舶创新专项项目。

Decision-making method for collision avoidance of ships in confined waters based on velocity obstacle and artificial potential field

MA Jie^1,2,3, SU Yudong¹, XIONG Yong^1,2,3, ZHANG Yu^3,4, YANG Xin¹

1 School of Navigation, Wuhan University of Technology, Wuhan Hubei 430063, China;
2 Hubei Inland Shipping Technology Key Laboratory, Wuhan Hubei 430063, China;
3 National Engineering Research Center for Water Transportation Safety, Wuhan Hubei 430063, China;
4 School of Logistics Engineering, Wuhan University of Technology, Wuhan Hubei 430063, China

Received:2020-08-21 Revised:2020-10-13 Online:2020-11-28 Published:2021-07-15

摘要/Abstract

摘要： 为解决受限水域船舶避碰过程同时受到河道及周边船舶运动影响的问题,提出将速度障碍思想和人工势场理论相结合的船舶避碰决策方法,该方法在引入内河避碰规则约束的条件下,应用速度障碍法实现船舶对来船和静态障碍物的避碰;通过对可航水域边界构建人工势场,实现船舶对可航水域边界的避碰;设置直线航道和曲线航道下的船舶交叉、对遇、追越等避碰场景,在仿真环境下验证方法的效果。结果表明:所提出的方法能使得船舶在规则约束下作出避开障碍物及不同会遇方向来船的决策,同时确保船舶的避碰路径与可航水域边界保持安全距离,满足船舶避碰过程中的操纵受限要求。

关键词: 速度障碍, 人工势场, 受限水域, 避碰决策, 规则约束

Abstract: In order to solve the problem that ships were affected by both river boundaries and movement of surrounding ships during collision avoidance process in restricted waters, a decision-making method for ship collision avoidance was proposed, which combined thought of velocity obstacle with theory of artificial potential field. Velocity obstacle method was applied to avoid collision with other ships and static obstacles under constraint of inland river collision avoidance rules. Then, artificial potential field was constructed on navigable waters boundaries to realize collision avoidance. Finally, collision avoidance scenarios such as crossing, meeting and overtaking of ships under straight channel and curved channel were set up, and the method was verified in simulation environment. The results show that the proposed method can help ships make decisions of avoiding obstacles and approaching ships in different directions under constraints of rules, and ensure that collision avoidance path keeps safe distance from boundaries of navigable waters, so as to meet requirement of limited maneuvering in process of collision avoidance.

Key words: velocity obstacle, artificial potential field, restricted water, collision avoidance decision-making, rule constraints

中图分类号:

X913.3

马杰, 苏钰栋, 熊勇, 张煜, 杨鑫. 基于速度障碍和人工势场的受限水域船舶避碰决策方法[J]. 中国安全科学学报, 2020, 30(11): 60-66.

MA Jie, SU Yudong, XIONG Yong, ZHANG Yu, YANG Xin. Decision-making method for collision avoidance of ships in confined waters based on velocity obstacle and artificial potential field[J]. China Safety Science Journal, 2020, 30(11): 60-66.

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基于速度障碍和人工势场的受限水域船舶避碰决策方法

Decision-making method for collision avoidance of ships in confined waters based on velocity obstacle and artificial potential field

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