The invention relates to the technical field of unmanned ship and multi-agent navigation, in particular to a multi-ship meeting parallel collision avoidance decision generation method in a high-complexity meeting degree, which comprises the following steps of: calculating all relative motion states; according to the position relation between all the relative motion lines and the ship field of the ship, the meeting navigation state of the ship is calculated; according to the navigation state R1gt; r2gt; r3 is ranked; according to R1gt; r2gt; the ship collision avoidance action of the highest layer is only executed according to the sequence of R1 and R2; re-establishing a multi-ship meeting relationship, and circulating in this way; when R1 does not exist, the collision avoidance action of R2 is executed, when R1 and R2 do not exist, R3 is executed finally, but only ships with the unified navigation level are executed in each action until the meeting state of all the ships is changed into R4. The method can be generally used in a ship meeting situation in which any number of ships participate, and integrates the advantages of distributed collision avoidance and cooperative collision avoidance.

    本发明涉及无人船及多智能体航行技术领域,具体为一种在高复杂会遇度中的多船会遇平行避碰决策生成方法,包括以下步骤:计算所有的相对运动状态;根据所有相对运动线与本船船舶领域的位置关系,计算船舶的会遇航行状态;按照航行状态R1>R2>R3的排序方式;按照R1>R2>R3的顺序仅执行最高一层的船舶避碰行动;重新建立多船会遇的关系,以此循环;当R1不存在时,再执行R2的避碰行动,当R1和R2都不存在时,最后再执行R3,但是每一次行动只执行统一航行等级的船舶,直到全部船舶会遇状态都变为R4为止。该方法可以通用于任意数量的船舶参与的船舶会遇局面,并且融合了分布式避碰和协同式避碰的优点。


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    Title :

    Multi-ship meeting parallel collision avoidance decision generation method in high-complexity meeting degree


    Additional title:

    在高复杂会遇度中的多船会遇平行避碰决策生成方法


    Contributors:
    GAO MIAO (author) / CHEN SHUAI (author) / SHI PEIRU (author) / ZENG XI (author) / BAO KEXIN (author) / HAN YU (author)

    Publication date :

    2024-12-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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