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Distributed coordination for collision avoidance of multiple ships considering ship maneuverability

机译：考虑船舶机动性的分布式协调，避免多艘船发生碰撞

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摘要

Over the past two decades, a number of methods have been proposed for solving maritime collision avoidance problems. Most of these works take a single ship's perspective and focus on one-to-one or one-to-many situations. To more complicated many-to-many situations, less attention has been paid. To deal with the many-to-many collision avoidance problem, this paper proposes a distributed coordination strategy which consists of two phases: firstly, predictions of ship trajectories are made based on ship dynamics, giving different candidate rudder angles, and potential collision risks that may be caused by each rudder angle selection are evaluated based on calculations of collision risk parameters; secondly, an optimization strategy is adopted to find the most efficient collision avoidance plan for the ships, namely, the rudder angles that each ship should take, and the corresponding operation time for rudder steering, with the overall objective to minimize the sum of time that each ship spends in avoiding collisions with the other ships. Simulation experiments are carried out to evaluate the effectiveness of the proposed method, as well as the corresponding communication and computation costs.
机译：在过去的二十年中，已经提出了许多解决海上避碰问题的方法。其中大多数作品都是从一艘船的角度出发，并专注于一对一或一对多的情况。对于更复杂的多对多情况，已较少关注。为了解决多对多避碰问题，本文提出了一种分布式协调策略，该策略包括两个阶段：首先，基于船舶动力学对船舶航迹进行预测，给出不同的候选舵角，以及潜在的碰撞风险。可能是由于每个舵角选择所引起的碰撞风险参数的计算基础上进行了评估；其次，采用一种优化策略来找到最有效的船舶避碰计划，即每艘船应采取的舵角，以及舵转向的相应操作时间，总的目的是使时间的总和最小化。每艘船都在避免与其他船相撞上花费。仿真实验进行了评估该方法的有效性，以及相应的通信和计算成本。

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  • 来源
    《Ocean Engineering》 |2019年第1期|212-226|共15页
  • 作者

    Li Shijie; Liu Jialun; Negenborn Rudy R.;

  • 作者单位

    Wuhan Univ Technol, Sch Logist Engn, 1178 Heping Rd, Wuhan, Hubei, Peoples R China;

    Wuhan Univ Technol, Intelligent Transportat Syst Res Ctr ITSC, 1178 Heping Rd, Wuhan, Hubei, Peoples R China|Wuhan Univ Technol, Natl Engn Res Ctr Water Transport Safety WTSC, 1178 Heping Rd, Wuhan, Hubei, Peoples R China;

    Delft Univ Technol, Dept Maritime & Transport Technol, Delft, Netherlands;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Collision avoidance; Distributed coordination; Ship maneuverability; Decision making;

    机译：避撞;分布式协调;船舶机动性;决策制定;

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