| 基于最短避碰距离和碰撞危险度的避碰决策支持 |
| 投稿时间：2017-05-03 修订日期：2017-08-08 点此下载全文 |
| 引用本文：刘冬冬,史国友,李伟峰,陈作桓,江健.基于最短避碰距离和碰撞危险度的避碰决策支持[J].上海海事大学学报,2018,39(1):13-18. |
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| 基金项目:国家自然科学基金（51579025）；辽宁省自然科学基金（20170540090） |
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| 中文摘要:为解决目前采用船舶领域进行避碰决策时选用的船舶领域多仅适用于一定水域，且选用的船舶领域模型与碰撞危险度模型考虑的因素不一致的问题，提出基于模糊四元船舶领域的碰撞危险度模糊评价模型。为解决采用最短避碰距离作为目标函数进行避碰决策时未考虑航迹偏差以及时间偏差等因素，以及根据所得的避碰参数采取的避碰措施并不能使总航程最短的问题，提出以航迹偏差、时间偏差和总航程作为目标函数的最短避碰路径模型。在综合考虑船舶领域、国际海上避碰规则和负责航行值班的高级船员的主观意识的情况下，应用粒子群优化（particle swarm optimization, PSO)算法规划出最优的避碰路径。MATLAB仿真结果表明，该算法能快速获得最优避碰路径，满足海上航行避碰要求。 |
| 中文关键词:避碰决策 避碰路径 碰撞危险度 模糊四元船舶领域 粒子群优化（PSO） |
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| Decision support of collision avoidance based on shortest avoidance distance and collision risk |
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| Abstract: When ship domain is used to make the decision of collision avoidance, the majority of the chosen ship domain only applies to certain waters, and the considered factors in the chosen ship domain model is inconsistent with those in the chosen collision risk model. To solve the problem, a model of collision risk fuzzy evaluation is proposed based on the fuzzy quaternion ship domain. When the shortest avoidance distance is chosen as the objective function to make decision of collision avoidance, the factors such as the track error and the time deviation are not considered, and the avoidance measures based on the obtained avoidance parameters can not make the overall voyage the shortest. To solve the problem, the shortest avoidance path model is proposed with the track error, the time deviation and the overall voyage as the objective function. With the comprehensive consideration of the ship domain, the international regulations for preventing collisions at sea, and the subjective consciousness of the officer in charge of a navigational watch, the optimal avoidance path is obtained by the particle swarm optimization (PSO) algorithm. The MATLAB simulation results show that the algorithm can quickly obtain the optimal avoidance path, and meet the demand of collision avoidance for ships at sea. |
| keywords:decision making of collision avoidance avoidance path collision risk fuzzy quaternion ship domain particle swarm optimization (PSO) |
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