Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników

Znaleziono wyników: 12

Liczba wyników na stronie
first rewind previous Strona / 1 next fast forward last
Wyniki wyszukiwania
Wyszukiwano:
w słowach kluczowych:  safe ship control
help Sortuj według:

help Ogranicz wyniki do:
first rewind previous Strona / 1 next fast forward last
PL
W artykule sformułowano funkcje wrażliwości modelu procesu transportowego i logistycznego oraz optymalnego sterowania tym procesem. Opisano model podstawowy procesu bezpiecznego kierowania ruchem statku jako gry różniczkowej, a następnie algorytmy optymalnego sterowania w postaci wieloetapowej gry pozycyjnej i wielokrokowej gry macierzowej. Przedstawiono charakterystyki wrażliwości bezpiecznego kierowania statkiem w rzeczywistej sytuacji kolizyjnej na niedokładność informacji o stanie procesu i na zmiany jego parametrów, wyznaczone na drodze komputerowej symulacji algorytmów w oprogramowaniu Matlab/Simulink.
EN
The paper presents the sensitivity functions of the transport and logistics process model and the optimal control of this process. The basic model of safe ship motion management as a differential game was described, followed by optimal control algorithms in the form of multi-stage positioning game and multi-matrix game. The sensitivity characteristics of safe ship control in the real collision situation are presented in terms of inaccuracy of process status information and changes in its parameters, as determined by computer simulation algorithms in Matlab/Simulink software.
2
Content available Swarm intelligence approach to safe ship control
EN
This paper presents an application of the Ant Colony Optimization (ACO) technique in a safe ship control system. The method developed solves the problem of path planning and collision avoidance of a ship in the open sea as well as in restricted waters. The structure of the developed safe ship control system is introduced, followed by a presentation of the applied algorithm. Results showing the problem-solving capability of the system are also included. The aim of the system developed is to increase automation of a safe ship control process. It is possible to apply the proposed method in Unmanned Surface Vehicles (USVs) control system, what will contribute to the enhancement of their autonomy.
PL
Dokonano porównania dwóch metod stosowanych w rozwiązywaniu problemu unikania kolizji statków: podejście oparte na algorytmie mrówkowym, zwanym również optymalizacją kolonią mrówek (Ant Colony Optimisation - ACO) oraz rozwiązanie wykorzystujące metodę programowania dynamicznego (Dynamic Programming - DP). Metody te sklasyfikowano w dwóch różnych grupach: ACO - algorytmów przybliżonych (approximate algorithms), znanych również jako podejścia heurystyczne oraz DP - nazywanych również algorytmami dokładnymi (exact algorithms). W artykule zawarto syntetyczny opis obu metod oraz porównanie tych dwóch podejść, w szczególności porównanie wyników uzyskanych dla rzeczywistych sytuacji nawigacyjnych zarejestrowanych na Morzu Bałtyckim.
EN
The article presents a comparison of two methods used to solve the problem of ships collision avoidance: an approach based on the ant algorithm, also known as Ant Colony Optimization - ACO and a solution using dynamic programming method - DR These methods arę classified into two different groups: ACO belongs to the group of approximate algorithms, also known as heuristics, and DP is a deterministic method, called the exact algorithms. This paper contains a concise description of both methods and a comparison of the two approaches, in particular a comparison of the results obtained for real navigational situations registered in the Baltic Sea.
EN
The paper introduces methods of dynamic games for automation of ship control in the collision situation, the game control processes in marine navigation and the fundamental mathematical model of the game ship control. First, state equations, control and state constraints and then control goal function in the form of payments : the integral payment and the final one, have been defined. Multi-stage positional , and multi-step matrix, non-cooperative and cooperative, game and optimum control algorithms for a collision situation, have been presented. The considerations have been illustrated with an exemplary computer simulation of algorithms to determine a safe own ship’s trajectory in the process of passing the ships encountered in Kattegat Strait.
EN
This paper presents an application of selected methods of optimal and game control theory to determine own ship safe trajectory when passing other ships encountered in good and in restricted visibility at sea. Five algorithms for determining safe trajectory of the own ship in a collision risk situation: non-cooperative positional game, non-cooperative matrix game, cooperative positional game, dynamic optimization, and kinematic optimization are compared. The analysis is illustrated with examples of computer simulations of the algorithms to determine safe and optimal own ship trajectories in the real navigational situations at sea.
EN
The paper presents the idea of using advanced machine learning algorithms to aid decision making in ship manoeuvring in real time. Evolutionary neural networks are used in this purpose. In the simulated model of manoeuvring ship a helmsman is treated as an individual in population of competitive helmsmen, which through environmental sensing and evolution processes learn how to navigate safely through restricted waters.
PL
Artykuł przedstawia koncepcję wykorzystania zaawansowanych algorytmów uczenia się maszyn dla wsparcia podejmowania decyzji manewrowania okrętem w czasie rzeczywistym. Do tego celu wykorzystywane są ewolucyjne sieci neuronowe. W symulowanym modelu manewrowania okrętem sternik jest traktowany jako jednostka w populacji konkurencyjnych sterników, którzy poprzez wyczuwanie środowiskowe i procesy ewolucyjne uczą się jak prowadzić nawigację bezpiecznie po ograniczonych akwenach.
7
Content available remote The Sensitivity of Safe Ship Control in Restricted Visibility at Sea
EN
The structure of safe ship control in collision situations and computer support programmes on base information from the ARPA anti-collision radar system has been presented. The paper describes the sen-sitivity of safe ship control to inaccurate data from the ARPA system and to process control parameters altera-tions. Sensitivity characteristics of the multi-stage positional non-cooperative and cooperative game and kin-ematics optimization control algorithms on an examples of a navigational situations in restricted visibility at sea are determined.
EN
Marine navigation consists in continuous observation of the situation at sea, determination the anti-collision manoeuvre. So it necessary to determine ship safe trajectory as a sequence of ship course changing manoeuvres. Each manoeuvre is undertaken on the basis of information obtained from the anti-collision system ARPA. This paper describes a method of safe ship control in the collision situation in a fuzzy environment based on a branch and bound method and a genetic algorithm. The optimal safe ship trajectory in a collision situation is presented as multistage decision-making process.
9
Content available Measuring system for parallel moving ships
EN
The paper introduces algorithm for determining the relative positions of two ships manoeuvring as a pair. This algorithm also takes into account determination of angle ă, which is difference between present approaching vessel and guidance vessel course. Relative positioning system is a vision system based on three colours LEDs matrix and rotating CCD camera. There are presented ways of distance calculation based on photogrammetric methods from the known distance between the characteristic points of the real. Several possible cases are taken into account. The considerations have been illustrated on the basis of model of the system. These results confirm the correctness of the operation of the algorithm that is used by the designed measuring system.
10
EN
The paper introduces application of selected methods of a game theory for automation of the processes of moving marine objects, the game control processes in marine navigation and the base mathematical model of game ship control. State equations, control and state constraints have been defined first and then control goal function in the form of payments – the integral payment and the final one. Multi-stage positional and multi-step matrix, non-cooperative and cooperative, game and optimal control algorithms in a collision situation has been presented. The considerations have been illustrated as an examples of a computer simulations mspg.12 and msmg.12 algorithms to determine a safe own ship’s trajectory in the process of passing ships encountered in Kattegat Strait.
11
EN
The paper presents design and realization of computer decision support system in collision situations of passage with greater quantity of met objects. The system was implemented into the real ship electro-navigational system onboard research and training ship m/v HORYZONT II. The radar system with Automatic Radar Plotting Aid constitutes a source of input data for algorithm determining safe trajectory of a ship. The article introduces radar data transmission details. The dynamic programming algorithm is used for the determination of safe optimal trajectory of own ship. The system enables navigational data transmission from radar system and automatic determining of safe manoeuvre or safe trajectory of a ship. Further development of navigator’s decision support system is also presented. Path Planning Subsystem is proposed for the determination of global optimal route between harbours with the use of Ant Colony Optimization algorithms.
EN
The paper introduces comparison of five methods of safe ship control in collision situation: multi-stage positional non-cooperative and cooperative game, multi-step matrix game, dynamic and kinematics optimisation with neural constrains of state control process. The synthesis of computer navigator decision supporting algorithms with using dual linear programming and dynamic programming methods has been presented. The considerations have been illustrated an examples of a computer simulation the algorithms to determine the safe own ship's trajectory in situation of passing a many of the ships encountered at sea.
first rewind previous Strona / 1 next fast forward last
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.