基于模型预测控制的无人船自主避碰方法

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS
Shengwei Xing, Hongwei Xie, Wenjun Zhang
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引用次数: 3

摘要

针对多艘船舶在海上相遇时无人驾驶船舶的自主避碰问题,提出了一种基于数学模型组(MMG)船舶运动数学模型的开放水域船舶避碰方法。该方法采用模型预测控制(MPC)模型算法,并考虑船舶操纵性和1972年《国际海上避碰规则》(COLREGs),利用模糊数学分析船舶在航行过程中的碰撞风险,进而构建防撞算法的评价函数。实现了船舶自主避碰。仿真结果表明,该算法能够解决多船在开放水域相遇时的自主避碰问题,验证了算法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A method for unmanned vessel autonomous collision avoidance based on model predictive control
Aiming at the problem of autonomous collision avoidance of unmanned vessels in the case of multiple vessels encountering at sea, this paper proposes a method for collision avoidance of vessels in open water based on the Mathematical Model Group (MMG) vessel motion mathematical model. This method uses Model Predictive Control (MPC) model algorithm, and considers vessel maneuverability and the International Regulations for Preventing Collision at Sea, 1972 (COLREGs), and uses fuzzy mathematics to analyze the collision risk of vessels during navigation, and then constructs the evaluation function of the collision avoidance algorithm. The vessel's autonomous collision avoidance is realized. The simulation results show that the algorithm can solve the problem of autonomous vessel collision avoidance in the case of multi-vessel encounters in open water, which verifies the effectiveness of the algorithm.
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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