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Warianty tytułu
Języki publikacji
Abstrakty
A multi-ship collision avoidance decision-making and path planning formulation is studied in a distributed way. This paper proposes a complete set of solutions for multi-ship collision avoidance in intelligent navigation, by using a top-to-bottom organization to structure the system. The system is designed with two layers: the collision avoidance decision-making and the path planning. Under the general requirements of the International Regulations for Preventing Collisions at Sea (COLREGs), the performance of distributed path planning decision-making for anti-collision is analyzed for both give-way and stand-on ships situations, including the emergency actions taken by the stand-on ship in case of the give-way ship’s fault of collision avoidance measures. The Artificial Potential Field method(APF) is used for the path planning in details. The developed APF method combined with the model of ship domain takes the target ships’ speed and course in-to account, so that it can judge the moving characteristics of obstacles more accurately. Simulation results indicate that the system proposed can work effectiveness.
Rocznik
Tom
Strony
85--92
Opis fizyczny
Bibliogr. 16 poz., rys., tab.
Twórcy
autor
- Wuhan University of Technology, Wuhan, China
- National Engineering Research Center for Water Transport Safety, Wuhan, China
autor
- Wuhan University of Technology, Wuhan, China
- National Engineering Research Center for Water Transport Safety, Wuhan, China
autor
- Wuhan University of Technology, Wuhan, China
- National Engineering Research Center for Water Transport Safety, Wuhan, China
autor
- Wuhan University of Technology, Wuhan, China
Bibliografia
- 1 Dongzhi, M. A., Y. A. N. Xinping, Z. Jiangbin and Z. Tao (2014). ʺRemote Acquisition and Transmission System of Vessel Energy Efficiency Information.ʺ Journal of Transport Information and Safety 32(4): 92‐96,107.(In Chinese)
- 2 Hansen, M. G., T. K. Jensen, T. Lehn‐Schiøler, K. Melchild, F. M. Rasmussen and F. Ennemark (2013). ʺEmpirical ship domain based on AIS data.ʺ Journal of Navigation 66(06): 931‐940.
- 3 Jian, L. U., Z. Wenjun, Y. Haifei and J. Jun (2014). ʺAnalysis of Rear‐end Risk Based on the Indicator of Time to Collision.ʺ Journal of Transport Information and Safety 32(5): 58‐64,76. (In Chinese)
- 4 Lee, S.‐M., K.‐Y. Kwon and J. Joh (2004). ʺA fuzzy logic for autonomous navigation of marine vehicles satisfying COLREG guidelines.ʺ International Journal of Control Automation and Systems 2: 171‐181.
- 5 Lingling, L. I. and Q. I. U. Lei (2014). ʺVessel Traffic Accident Forecasting Using a Combination Gray Neural Network Model.ʺ Journal of Transport Information and Safety (3): 110‐113,118. (In Chinese)
- 6 Liu, Y., W. Liu, S. Rui and B. Richard (2015). ʺPredictive navigation of unmanned surface vehicles in a dynamic maritime environment when using the fast marching method.ʺ International Journal of Adaptive Control & Signal Processing.
- 7 Perera, L. P., J. P. Carvalho and C. G. Soares (2011). ʺFuzzy logic based decision making system for collision avoidance of ocean navigation under critical collision conditions.ʺ Journal of Marine Science and Technology 16(1): 84‐99.
- 8 Pietrzykowski, Z. and J. Uriasz (2009). ʺThe ship domain–a criterion of navigational safety assessment in an open sea area.ʺ Journal of Navigation 62(01): 93‐108
- 9 Rui, S., Y. Liu and R. Bucknall (2015). ʺPath planning algorithm for unmanned surface vehicle formations in a practical maritime environment.ʺ Ocean Engineering 97: 126‐144
- 10 Rui, S., Y. Liu and R. Bucknall (2016). ʺThe angle guidance path planning algorithms for unmanned surface vehicle formations by using the fast marching method.ʺ Applied Ocean Research 59: 327‐344.
- 11 Ruishan, S. U. N., W. Lei and L. I. U. Junjie (2016). ʺAn Overview and Prospect of Civil Aviation Safety in China.ʺ Journal of Transport Information and Safety 34(4): 15,69. (In Chinese)
- 12 Stahlberg, K., F. Goerlandt, J. Montewka and P. Kujala (2012). ʺUncertainty in Analytical Collision Dynamics Model Due to Assumptions in Dynamic Parameters.ʺ TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 6, No. 1: 47‐54.
- 13 Statheros, T. (2008). ʺAutonomous Ship Collision Avoidance Navigation Concepts, Technologies and Techniques.ʺ Journal of Navigation 61(1): 129‐142.
- 14 Uriasz, Z. P. J. (2009). ʺThe Ship Domain – A Criterion of Navigational Safety Assessment in an Open Sea Area.ʺ Journal of Navigation 62(1): 93‐108.
- 15 Zhang, J., D. Zhang, X. Yan, S. Haugen and C. G. Soares (2015). ʺ A distributed anti‐collision decision support formulation in multi‐ship encounter situations under COLREGs.ʺ Ocean Engineering 105: 336‐348
- 16 Zhonglian, J., C. H. U. Xiumin and Y. A. N. Xinping (2015). ʺDevelopments and Prospects of Intelligent Water Transport:A Review of the Symposium on Intelligent Water Transport, in Conjunction with the 10th Annual Meeting of China ITS.ʺ Journal of Transport Information and Safety (6): 1‐8. (In Chinese
Uwagi
Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)
Typ dokumentu
Bibliografia
Identyfikator YADDA
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