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Automatic ship anti-collision method optimized by wolf colony search algorithm

A search algorithm and collision avoidance technology, applied in the field of ship automatic collision avoidance path planning, which can solve problems such as reducing the convergence speed

Inactive Publication Date: 2015-07-22
HARBIN ENG UNIV
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Problems solved by technology

But the algorithm has the defect that the convergence speed is reduced due to the search out of bounds

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  • Automatic ship anti-collision method optimized by wolf colony search algorithm
  • Automatic ship anti-collision method optimized by wolf colony search algorithm
  • Automatic ship anti-collision method optimized by wolf colony search algorithm

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Embodiment Construction

[0052] The present invention will be described in more detail below in conjunction with the accompanying drawings.

[0053] A ship automatic collision avoidance method optimized by wolf pack search algorithm, specifically comprising the following steps:

[0054] Step 1. Establish the simulation interface required for the ship simulation test, and determine the ship parameters for collision avoidance.

[0055] Step 2. Determine the ship encounter situation and analyze the collision risk. In the present invention, the meeting situation of two ships crossing is used to make the collision risk analysis (CRI Collision Risk Index) between our ship and the target ship. The parameters related to the ship collision risk are the closest encounter distance (DCPA), the shortest encounter Meeting time (TCPA), distance between ships (D), direction of incoming ship (B), ship speed ratio (K), etc. In order to be able to take the above factors into consideration, in the present invention, ba...

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Abstract

The invention belongs to the technical field of automatic ship anti-collision route planning and mainly relates to an automatic ship anti-collision method optimized by a wolf colony search algorithm. The method disclosed by the invention comprises the following steps: establishing a simulation interface needed by a ship simulation test, and determining ship parameters used for collision avoidance; and determining ship encounter situation and analyzing collision risk index, namely adopting the across encounter situation of two ships, analyzing the collision risk index shown in the specification of the ship and a target ship, wherein UtT is the time-based collision risk index, UdT is the space collision risk index, and only when UtT and UdT are not zero, ship collision risk exists. According to the method disclosed by the invention, the defect that the rate of convergence is reduced because the wolf colony algorithm crosses the border in the migrating, moving and surrounding processes when exceeding the search space is overcome, the improved algorithm is applied to automatic ship anti-collision route planning, and an automatic ship anti-collision method optimized by the wolf colony search algorithm is generated through establishment of a ship motion model and generation of the objective function.

Description

technical field [0001] The invention belongs to the technical field of ship automatic collision avoidance path planning, and mainly relates to a ship automatic collision avoidance method optimized by wolf group search algorithm. Background technique [0002] Ship automatic collision avoidance means that the ship forms an encounter situation with other ships during sea navigation, and it is determined through collision risk analysis that it is necessary to take collision avoidance actions. In the case of collecting and exchanging information autonomously within the ship, the best way to avoid collision of the ship is obtained through the optimization strategy, thereby generating an "economical" and "safe" navigation path for collision avoidance. Assisting the crew to quickly make collision avoidance decisions is conducive to reducing the occurrence of marine accidents. [0003] Therefore, the intelligentization of ship collision avoidance is one of the frontier hot topics in...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06N3/00
Inventor 刘洪丹刘胜马晓光张兰勇李冰王宇超贾云璐
Owner HARBIN ENG UNIV
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