The invention provides a distributed autonomous collaborative collision avoidance method for multiple intelligent ships. The method mainly comprises the following steps: constructing a dangerous ship list of a ship based on a ship collision risk degree model; judging whether the dangerous ship list of the ship is empty or not; dividing an encounter situation according to the navigation information of the ship and the target ship; determining a collision avoidance responsibility coefficient of each ship according to the meeting situation; constructing an interactive collision avoidance space between the ship and all dangerous ships based on an ORCA algorithm; selecting the velocity vector deviating from the current course minimum as the optimal velocity vector; and the dangerous ship list is emptied. According to the invention, continuous sensing, decision making and response can be carried out on the traffic situation around the ship, so that each intelligent ship can independently carry out distributed cooperative collision avoidance based on limited sensing information, and the ships do not need to communicate and coordinate, so that the collision risk between the ships is reduced, and the communication cost between the ships is saved.
本发明提供一种面向多智能船的分布式自主协同避碰方法。主要包括:基于船舶碰撞危险度模型构建本船的危险船舶列表;判断所述本船的危险船舶列表是否为空;根据本船与目标船舶的航行信息划分会遇态势;根据会遇态势确定每艘船舶的避碰责任系数;基于ORCA算法构造出本船与所有危险船舶的交互避碰空间;选择偏离当前航向最小的速度矢量作为最优速度矢量;清空危险船舶列表。本发明能够对船舶周围的交通态势进行连续的感知、决策和响应,使每艘智能船舶都可基于有限的感知信息独立自主地进行分布式协同避碰,且船舶之间不需要沟通协调,不仅降低了船舶之间的碰撞风险,而且节省了船舶之间的通信成本。
Distributed autonomous collaborative collision avoidance method for multiple intelligent ships
一种面向多智能船的分布式自主协同避碰方法
2023-04-04
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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