The invention provides an automatic ship collision avoidance method based on a velocity vector coordinate system. The automatic ship collision avoidance method comprises the steps of: (1) regarding a ship as a particle, and acquiring information of obstacles surrounding the ship; (2) judging whether a risk of collision between the ship and the surrounding obstacles exists through a collision prediction model, if the risk exists then entering the step (3), and if not then returning to the step (1); (3) calculating a relative velocity, at which the ship can move out from a collision region, of the ship in the velocity vector coordinate system, and calculating an absolute velocity of the ship according to the relative velocity; (4), regulating a course of the ship via an autopilot controller by utilizing the absolute velocity of the ship until the current velocity of the ship is the absolute velocity; (5) and repeating the steps from step (1) to step (4) over and over again so as to achieve automatic ship collision avoidance based on the velocity vector coordinate system. The automatic ship collision avoidance method can judge whether the risk of collision among ships exists and can provide the collision avoidance method.
Automatic ship collision avoidance method based on velocity vector coordinate system
2015-11-04
Patent
Electronic Resource
English
IPC: | G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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