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The purpose of this study is to realize the intelligent deliberative obstacle avoidance for unmanned surface vehicle (USV), based on the International Regulations for Preventing Collisions at Sea called COLREGS. Firstly, a three-level system architecture is designed for the ship intelligent collision avoidance system. Secondly, an intelligent collision avoidance algorithm is presented based on the calculation of motion parameters and the rules of COLREGS. Thirdly, according to COLREGS, the marine environment is modeled from the electronic chart data and radar information, and a deliberative collision avoidance algorithm is written. Finally, the deliberative collision avoidance simulation is carried out for the USV. The feasibility and reliability of intelligent collision avoidance algorithm are verified by the vivid simulation results. 相似文献
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基于Maxsurf球鼻艏型线的船舶减阻方法 总被引:1,自引:0,他引:1
为了探究球鼻艏宽度与船舶快速性的关系,在对某渔政船的主尺度和机型已定的情况下,针对相同船型设计了三种不同宽度的球鼻艏,利用maxsurf软件中的新细长体理论,首先计算原船的兴波阻力系数和有效功率,并将计算结果和船模试验值相比较,结果表明该方法和试验值较为接近;接着计算三种不同球鼻艏的船的兴波阻力系数和有效功率。结果表明适当增加球鼻艏的宽度可以减小船舶的兴波阻力,提高船舶有效功率,进而提高了船舶的快速性。 相似文献
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