摘要
针对岛礁区-定线制水域的自主航行决策问题,以担杆水道为研究对象,提出了符合《避碰规则》和良好船艺的自主航行决策方法。首先,通过解析电子海图和历史AIS数据构建数字化交通环境,基于三自由度MMG模型进行船舶操纵推演,设计OP-PID航向控制器和改进ELOS制导方法,以实现自动航行;然后,结合自然和交通环境,进行会遇局面辨识和碰撞危险度识别,并计算避让时机和幅度。仿真实验结果表明:自动航行模型在大角度转向时仍能稳定跟踪计划航线,偏差距离在5m以内;在AIS数据仿真中,本船通过两次右转成功避让4艘目标船;在手动设置目标船的仿真中,本船针对不同会遇局面采取相应避让措施,并最终恢复计划航线。该研究成果为岛礁区-定线制水域的自主航行提供了有效决策方法。
To address the decision-making problem in autonomous navigation in island and reef-routing area,an autonomous navigation decision-making method that complies with the International Regula-tions for Preventing Collisions at Sea(COLREGS)and good seamanship was proposed with Dangan Waterway as the research object.A digital traffic environment was constructed by analyzing electronic charts and historical AIS data firstly.Based on the three-degree-of-freedom MMG model,ship maneu-vering simulation was conducted,and an OP-PID heading controller and improved ELOS guidance method were designed to achieve autonomous navigation.Secondly,through the integration of natural and traffic environments,encounter situation identification and collision risk assessment were per-formed to determine the timing and magnitude of avoidance.Simulation results show that the pro-posed autonomous navigation model can steadily track the planned route even during large-angle course altering,with deviation distances within 5 m;in AIS data simulation,the own ship successful-ly avoided 4 target ships through two sequential starboard turns;in manual target ship simulation,the own ship took appropriate avoidance measures for different encounter situations and eventually re-turned to the planned route.The research results provide an effective decision-making method for au-tonomous navigation in island and reef-routing area.
作者
常路宾
刘进来
何芳
李平兰
李开龙
CHANG Lubin;LIU Jinai;HE Fang;LI Pingan;LI Kaiong(Naval Univ.of Engineering,Wuhan 430033,China)
出处
《海军工程大学学报》
北大核心
2025年第4期9-20,共12页
Journal of Naval University of Engineering
基金
国家自然科学基金资助项目(62373367)。
关键词
岛礁区-定线制水域
自主航行
数字化交通环境
航向控制
航线跟踪
island and reef-routing area
autonomous navigation
digital traffic environment
course control
route tracking
