The invention relates to a multi-target decision-making ship collaborative collision avoidance decision-making method under asynchronous delay characteristics, which comprises the following steps: defining distance and time scale factor concepts, and realizing quantitative evaluation of collision danger between ships by means of a collision avoidance four-stage theoretical model, a circular ship domain model and Gaussian fitting; on the basis of a density clustering method, a calculation method of an expansion neighborhood and a correction neighborhood is provided, and correlation clustering analysis of encountering ships is achieved; constructing a ship marginal function, calculating a utility level-Shapley value formed by encountering ships on the current situation, determining a collision avoidance action sequence of the ships in the cluster, and realizing division of ship avoidance priorities in the same cluster; an actual navigable area of the way-giving ship is determined through a speed obstacle method and good shipcraft requirements; a multi-ship collision avoidance decision process is divided into a plurality of interrelated stages according to a time sequence, and the ship collaborative collision avoidance decision process is modeled by adding a self-delay term method.
本发明一种异步延迟特征下的多目标决策船协同避碰决策方法,包括以下步骤:定义距离和时间尺度因子概念,借助避碰四阶段理论模型、圆形船舶领域模型以及高斯拟合,实现对船舶间碰撞危险的定量评估;基于密度聚类方法,提出膨胀邻域和修正邻域的计算方法,实现对会遇船舶的相关性聚类分析;构建船舶边际函数,计算会遇船舶对当前局面形成的效用水平‑沙普利值,确定族内船舶避碰行动顺序,实现对同一聚类簇中船舶避让优先级的划分;通过速度障碍法和良好船艺要求确定让路船的实际可航区域;将多船避碰决策过程按时间顺序分成若干相互联系的阶段,通过加入自延迟项方法,对船舶协同避碰决策过程进行建模。
Cooperative collision avoidance decision-making method of multi-target decision-making ship under asynchronous delay characteristic
一种异步延迟特征下的多目标决策船协同避碰决策方法
2024-06-07
Patent
Electronic Resource
Chinese
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