Dynamic adaptive intelligent navigation method for multi-object situation in open water
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摘要: 考虑船舶操纵特性、《1972年国际海上避碰规则》和良好船艺要求，提出了动态自适应目标船不协调避碰行动的开阔水域智能航行方法；将物标分类、建模并构建数字孪生交通环境，结合航向控制方法、操纵运动和复航模型构建了自动航行模型，推演了船舶非线性操纵运动；基于自动航行模型量化解析了《规则》要求，探究动态避碰机理，建立了可行航向求取方法；在多目标环境中，提出了目标船机动判别方法，研究了《规则》约束下构成自主航行方案的改向时机、幅度和复航时机等要素求取方法。仿真结果表明：依靠信息秒级更新的滚动计算，提出的智能航行方法可自适应剩余误差和目标船随机运动；提出的智能航行方法能将可行航向区间和改向幅度精确到1°；将程序运行和复航时机计算步长设置为1、10 s，设置多类静态物标和6艘保向保速目标船，在640、1 053、2 561和3 489 s，本船进行右转9°、复航、保向保速和复航等操纵可让请所有目标并自主航行至终点；设置目标船在300 s采取不协调转向避让行动，本船在980、2 790、3 622、5 470 s时进行右转9°、左转12°、右转17°和复航等操纵可让请所有目标并自主航行至终点。可见，任意初始状态下的船舶均可沿计划航线自动航行至终点，提出的方法能满足多个、多类动静态物标共存的真实开阔水域环境中的智能航行需要。Abstract: An intelligent navigation method of dynamic adaptive target ship collision avoidance action in open water was proposed considering the ship maneuvering characteristics, the requirements of International Regulations for Preventing Collisions at Sea 1972 and good seamanship. The digital twin traffic environment was constructed by classifying and modeling objects. An automatic navigation model was developed by combination of course control method, ship maneuvering motion and sailing resuming model, and ship's nonlinear maneuvering motion was deduced. The requirements of International Regulations for Preventing Collisions at Sea 1972 were quantitatively analyzed based on the automatic navigation model, and the dynamic collision avoidance mechanism was studied. The method to calculate applicable course was established. In the multi-target environment, the maneuvering discrimination method of target ship was proposed. The method to obtain the factors such as the course changing time, amplitude and sailing resuming time which constitute the autonomous navigation scheme under the constraint of rules was studied. Simulation results show that the intelligent navigation method can adapt to the residual error and random motion of the target ships based on the rolling calculations of the information update at the second-level. The proposed intelligent navigation method can accurately achieve the feasible course range and course change amplitude of 1°. The calculation step lengths of program and sailing resumption time are set to 1 and 10 s, respectively, and multiple static objects and six target ships maintaining the course and speed are established in this simulation environment. Own ship remains clear from all targets and sails autonomously to the destination after a series of maneuverings of 9° to starboard, sailing resuming, keeping course and speed, sailing resuming at 640, 1 053, 2 561 and 3 489 s, respectively. Target ships are set to perform uncoordinated collision avoidance actions at 300 s, and own ship remains clear from all targets and sails autonomously to the destination after a series of maneuverings of 9° to starboard, 12° to port, 17° to starboard, and sailing resuming at 980, 2 790, 3 622 and 5 470 s, respectively. Therefore, a ship in any initial states can automatically sail along a planned route to its destination. The proposed method is suitable for intelligent navigation in actual open sea areas with multiple and multiple dynamic and static objects. 5 tabs, 13 figs, 30 refs.
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图 6 避碰转向角求解流程
Figure 6. Calculation process of course altering angle for collision avoidance
图 12 目标船保向保速下本船轨迹
Figure 12. Own ship tracks when target ships keep direction and speed
图 13 目标船变向变速下本船自主航行轨迹
Figure 13. Own ship tracks when target ship is under variable course and speed
表 1 开阔水域物标分类
Table 1. Object classifications in open sea
目标 所属类别 运动状态 一般机动船 普通机动船 运动 钻井平台、岛屿 圆形目标 静止 浮标、明(暗)礁 点状目标 静止 浅滩、岸线 多边形目标 静止 拖带船队、拖网渔船 条形目标 运动 操限、失控船 圆形目标 运动 非机动船 点状目标 运动 
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表 2 圆形目标试验参数
Table 2. Experimental parameters of circular objects
编号 坐标/n mile 半径/m 1 (5.01，0.00) 500 2 (-2.16，-11.83) 250 3 (1.28，-12.10) 1 000 4 (-2.16，-7.00) 100 5 (2.60，-9.01) 100 6 (2.90，-10.10) 100 7 (3.81，-10.20) 100 8 (6.00，0.75) 100
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表 3 其他目标试验参数
Table 3. Experimental parameters of other objects
物标 编号 坐标/n mile 条形目标 1 (-1.51，-12.61)
(-0.80，-12.20)多边形目标 1 (-4.61，-13.00)
(-4.82，-9.60)
(-9.10，-7.00)
(-9.80，-3.61)
(-12.30，0.51)
(-16.51，0.00)
(-8.02，-14.11)2 (1.40，-13.50)
(2.11，-13.50)
(3.02，-14.00)
(3.23，-14.71)转向点 1 (6.48，-12.96) 2 (3.24，-6.48) 3 (-3.24，-3.24) 4 (-4.86，3.24)
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表 4 本船试验参数
Table 4. Experimental parameters of own ship
编号 航向/(°) 航速/kn 坐标/n mile 场景1 300 12 (6.48，-12.96) 场景2 330 12 (7.71，-14.01)
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表 5 目标船初始参数
Table 5. Initial parameters of target ships
目标船 坐标/n mile 航速/kn 航向/(°) 船长/m ① (7.0，-7.0) 12 310 180 ② (5.5，-6.5) 10 270 180 ③ (4.0，-14.0) 12 10 180 ④ (0.0，-3.0) 12 150 180 ⑤ (-5.0，4.0) 12 170 180 ⑥ (-7.5，6.0) 12 150 180
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