Research on Ship Track Control in Bridge Area Based on Differential Evolution Algorithm

Abstract

At present, the automatic navigation of ships in local marine environment has been realized. However, in order to achieve the goal of unmanned inland ships, the independent navigation of the ship should be carried out in the typical river section including the bridge area. This paper takes the Wuhan section of the Yangtze River as the research object of the bridge waterway. the track is restored based on the ship’s AIS information. Combined with the navigation rule of ships passing through the bridge, this paper analyzes the track belt characteristics of ship crossing bridge, and establishes a track segment scale model suitable for ships to navigate safely across the bridge. According to the actual situation of ship crossing the bridge, taking wind, current disturbance and shallow water effect into consideration, the mathematical model of MMG three-degree-of-freedom maneuvering motion of inland river ship is established. After setting up the track segment scale model and ship maneuvering motion model, the differential evolution algorithm is applied to ship track control. When simulating the track control of ship's upstream and downstream bridges, two groups of experiments are further divided into the hydrostatic environment and the external disturbance environment. The control effects under the hydrostatic environment and external disturbance are compared and analyzed. The results show that the differential evolution PID track controller can make the ship safely pass through the bridge area no matter it is going upstream or downstream. This study can be used as a supplement to the theoretical system of pre-control of ship-bridge collision to promote the development of navigation safety assurance technology in bridge area.