智能船舶的反应型避碰规划研究

对于多船会遇场景而言,在反应型避碰规划中考虑操船者意图具有明显的优越性,可在紧迫局面下更合理地执行《1972年国际海上避碰规则》（即COLREGs）的背离规则。对此,提出一种基于隐马尔可夫模型的操船意图预报方法,将生成的目标船意图预报结果与经典速度障碍法相融合,产生更合理的碰撞危险评估结果,据此建立的反应型避碰规划算法比经典速度障碍法更安全。依托案例三体船完成的自主避碰试验,验证所提改进算法的有效性、可靠性和实时性,为智能船舶的自主避碰研究提供参考。     

基于粒子群-遗传优化算法的船舶避碰决策

为能在开阔水域中提升船舶驾驶员在多船会遇场景下的避碰决策能力,按照国际海上避碰规则(Convention on the International Regulations for Prerenting Collisions at Sea,COLREGs)的要求,综合考虑船舶航行的安全性与经济性,提出一种基于粒子群-遗传(Partide Swam Optimization-Genetic Algorithm,PSO-GA)的混合优化避碰决策算法。基于最近会遇距离(Distance of Close Point of Approaching,dCPA)和最近会遇时间(Time to Close Point of Approaching,tCPA)确定船舶碰撞危险度(Collision Risk Index,ICR)的计算方法,基于转向幅度与航行时间建立避碰决策目标函数。基于PSO-GA算法具有提高收敛精度和加速全局寻优的特点,当ICR≥0.5时,启动PSO-GA算法,获得让路船舶在全局范围内的最佳转向幅度和在新航向上的航行时间。仿真结果表明:与单独使用PSO或GA算法相比,PSO-GA算法能够以较少的迭代次数找到安全经济避碰航线。提出的避碰决策算法能够为船舶驾驶人员在避碰决策中提供参考,有助于提升船舶航行的安全性和降低船舶碰撞事故发生的风险。     

舰船自动智能避碰数学模型及其仿真研究

为了提高舰船航行的安全和效率,达到最佳操船效果,需要建立舰船自动智能避碰数字模型.当前模型在分析舰船避碰风险度的基础上,通过人工智能、进化计算和软计算等方法实现舰船自动智能避碰,存在避碰识别准确率较低的问题.本文提出一种新的舰船自动智能避碰数学模型,首先对舰船会遇态势进行判断;然后建立预测舰船碰撞风险判断模型,预测本舰船实施自动智能避碰方案后的复航时机是否已到,以及本舰船立即复航是否能够让清目标舰船或其他所有目标舰船;最后依据舰船碰撞风险判断结果,以当前舰船潜在碰撞风险为例,建立舰船自动智能避碰数学模型.仿真结果证明,所提模型能够实现舰船自动智能避碰.     

考虑船位预测不确定性的船舶碰撞危险度计算方法

[目的]船舶碰撞是威胁智能船舶航行安全的主要因素。船舶碰撞危险度计算模型应及时发现船舶航行中潜在的碰撞风险,为智能船舶的自主避让决策提供依据。[方法]首先,根据船舶领域侵入程度与侵入时间等参数,分析基于领域的碰撞危险参数计算模型,将航行场景划分为单船会遇局面和本船与船舶群组的会遇局面,给出一种新的多船会遇情况下的碰撞危险参数计算模型;其次,基于维纳过程对船位预测不确定性进行建模,根据卡方分布获取船位预测不确定性椭圆;最后,给出考虑船位预测不确定性的碰撞危险参数计算方法。[结果]该计算模型能够考虑船位预测不确定性对船舶碰撞危险的影响。[结论]可以进一步保障智能船舶的海上航行安全。     

模拟退火算法在船舶转向避碰幅度决策中的应用

在船舶避碰决策过程中,转向避碰是采用频率最高的一种避碰方法。为了求得本船与多船会遇情况下的最优转向避碰幅度,应用模拟退火算法将本船与多船间的转向避碰幅度问题视作一类多目标函数优化问题,从而在可行解空间中求出满足目标函数和约束条件的最优转向避碰幅度解。仿真结果表明,上述方法不仅有助于求出多船会遇情况下的本船最优转向角度值,而且也有助于多船避碰决策系统的智能化设计与开发。     

让路船与直航船的关系

让路船与直航船的划分是避碰实践的需要,是对避碰义务的分工。《1972年国际海上避碰规则》仅为直航船规定了避碰义务,并没有为其规定任何免于遵守避碰义务的特权,直航船不是"权利船"。让路船和直航船之间是一种和谐的合作关系,不是对抗的敌对关系。     

“协议避碰”的性质

为了充分发挥协议避碰的作用,分析了《1972年国际海上避碰规则》以及协议避碰的性质,提出了协议避碰的适用时机和注意事项。     

Path-planning algorithm for ships in close-range encounters

Efficient maritime navigation through obstructions at close range is still one of the many problems faced by mariners. The increasing traffic densities and average cruise speed of ships also impede the collision avoidance process by reducing the time available for decision making. This study develops a path-planning algorithm that determines an optimal navigation path for ships in close-range encounters, using known and predicted data about the traffic and environment. An improved ship dynamic model has also been developed to better approximate the ship movement under external influences, and the algorithm was evaluated with a set of test cases simulating various traffic scenarios typically encountered at close range. Since the method is based on evolutionary algorithm, the algorithm behaviours were evaluated statistically, where properties such as consistency and practicality of the algorithm outputs are discussed.     

Performance characterisation for risk assessment of striking ship impacts based on struck ship damaged volume

Ship collision accidents are rare events but pose huge threat to human lives, assets, and the environment. Many researchers have sought for effective models that compute ship stochastic response during collisions by considering the variability of ship collision scenario parameters. However, the existing models were limited by the capability of the collision computational models and did not completely capture collision scenario, and material and geometric uncertainties. In this paper, a novel framework to performance characterisation of ships in collision involving a variety of striking ships is developed, by characterising the structural consequences with efficient response models. A double-hull oil carrier is chosen as the struck ship to demonstrate the applicability of the proposed framework. Response surface techniques are employed to generate the most probable input design sets which are used to sample an automated finite element tool to compute the chosen structural consequences. The resulting predictor-response relationships are fitted with suitable surrogate models to probabilistically characterise the struck ship damage under collisions. As demonstrated in this paper, such models are extremely useful to reduce the computational complexity in obtaining probabilistic design measures for ship structures. The proposed probabilistic approach is also combined with available collision frequency models from literature to demonstrate the risk tolerance computations.     

基于舰船受损体积的舰船撞击风险评估的性能特征（英文）

Ship collision accidents are rare events but pose huge threat to human lives, assets, and the environment. Many researchers have sought for effective models that compute ship stochastic response during collisions by considering the variability of ship collision scenario parameters. However, the existing models were limited by the capability of the collision computational models and did not completely capture collision scenario, and material and geometric uncertainties. In this paper, a novel framework to performance characterisation of ships in collision involving a variety of striking ships is developed, by characterising the structural consequences with efficient response models. A double-hull oil carrier is chosen as the struck ship to demonstrate the applicability of the proposed framework. Response surface techniques are employed to generate the most probable input design sets which are used to sample an automated finite element tool to compute the chosen structural consequences. The resulting predictor-response relationships are fitted with suitable surrogate models to probabilistically characterise the struck ship damage under collisions. As demonstrated in this paper, such models are extremely useful to reduce the computational complexity in obtaining probabilistic design measures for ship structures. The proposed probabilistic approach is also combined with available collision frequency models from literature to demonstrate the risk tolerance computations.     

基于驾驶实践的无人船智能避碰决策方法

[目的]为实现沿海无人驾驶船舶自主航行,充分考虑无人驾驶船舶智能避碰决策的合理性和实时性后,提出并建立一种基于驾驶实践的无人船智能避碰决策方法.[方法]首先,以本体论为基础,设计无人驾驶船舶航行态势本体概念模型,并结合《国际海上避碰规则》及良好的船艺将船舶航行态势量化划分为12种会遇场景;然后,从驾驶实践的角度改进影响...     

某公务船抗碰撞性能研究

公务船在领海和专属经济区执行维权执法任务时,存在较高的与其他船舶发生主动或被动碰撞的风险。为了准确评估公务船的耐撞性能,本文以某公务船为例,考虑多种计算工况,对目标船的耐撞性能进行动态响应计算,获得了机舱及首部区域的结构损伤、应力、能量吸收等动态结构响应,并计算获得被撞船达到临界状态时的极限撞击速度。研究成果可为公务船的防撞结构设计提供参考。     

计算机模拟航迹在船舶碰撞分析中的应用研究

本文以1989年4月21日在我国台湾海峡G轮和T轮的碰撞为典型实例,以双方的事故申报记载不全,证词记录有疑点,不能确定两船在碰撞前的实际航迹为前提,通过计算机技术的图象处理,模拟事故双方在碰撞前的航迹的可能变化,结合当时的环境条件,选择最可能的碰撞航迹,从而可以判断出碰撞前两船各自的操纵情况,直观明瞭,初步探讨了一种模糊航迹的判断方法。模拟的航迹可以永久存档,弥补了船舶文件的不足和检验了事故双方陈述的正确性,为正确分析碰撞事故的原因提供了科学依据。     

跨海大桥桥区航道智能助航系统研发

跨海大桥桥区航道是典型的船舶航行受限水域,船桥碰撞安全风险大,桥区航道智能助航技术有助于提高桥区航道安全保障水平。分析了桥区航道通航风险因素以及水文气象分布规律,按通航规则将水域划分为预警、警戒、航道等不同区块,构建了桥区航行的船舶动态领域风险辨识模型。研发了自主检测船舶动态并向其播发防撞预警信息的装置,以及自动管理和运行软硬件设施的桥区航道船舶避碰智能助航系统。该系统已应用在福建省平潭海峡大桥桥区航道,有效改善了桥区水域的航道通航安全形势。     

基于模糊理论的船舶复合碰撞危险度计算

基于船舶领域和动界的概念,在船舶碰撞几何原理的基础上,利用模糊规则和模糊综合评价方法,本文提出一种船舶复合碰撞危险度的计算方法.确定最近会遇距离(DCPA)、最近会遇时间(TCPA)、两船距离、相对方位、船速比5个主要因素的隶属度函数,并考虑航行区域状况、能见度情况和船舶的操纵性能等对船舶碰撞危险度的隶属度函数修正.用原始数据对3种不同会遇态势进行仿真和对3种不同碰撞危险度计算结果分析比较,结果表明该方法的有效性.     

正规瞭望的实质意义和形式意义

分析船舶海上避碰对正规瞭望的要求,指出正规瞭望的实质意义是指对局面持续的掌握和控制,是不能中断的;而正规瞭望的形式意义是指具体瞭望行为的实施,是可以中断的。《避碰规则》第5条中的atalltimes是对正规瞭望的实质意义的要求,而非对其形式意义的要求。     

一种基于模糊原理的碰撞危险度模型

基于“领域”概念和模糊原理，建立起一个用于确定船舶间碰撞危险度的数学模型。该模型不仅综合考虑了多种因素对碰撞危险度的影响，而且简便易行。通过模拟试验表明：本模型能够很好地反映出实际情况，具有较好的效果。     

多船避碰决策理论与模型分析

考虑到多船避碰的影响因素众多,除考虑周围船舶的态势外,还需考虑风流等自然因素的影响,以及避碰规则的种种制约,为此,分析多船的会遇局面以及避碰的机理,充分考虑影响避碰的各个因素,运用静态非完全信息的博弈论建立多船避碰决策的数学模型.     

浅谈滚装客船风浪中大角度避碰

滚装客船易受风浪影响,大角度避让会产生更大的横倾,导致汽车倾翻、失火、沉船等事故。根据《国际海上避碰规则》的要求,结合本类船舶的特点,值班驾驶员应及早地小舵角避让,确保安全航行。     

Finite element damage analysis of an underwater glider–ship collision

Underwater gliders, which are profiling autonomous underwater vehicles designed to make oceanographic measurements, are increasingly used in the coastal ocean. As they regularly surface for data transmission, gliders increasingly pose a risk for fast ships. In order to estimate the extent of damage due to collision, 3D finite element simulations of collisions between a glider and a high-speed craft with a glass-fiber reinforced plastic hull are performed. Different collision scenarios such as impact locations, angles of attack and speeds are examined. The results are compared to an analytical solution based on simplifying assumptions. Although both methods reveal consistent results, it is shown that finite element simulations are required to account for the 3D shape of the ship. The results indicate that at ship velocities exceeding 7.5 m/s (14.6 kt) the glider penetrates the ship’s hull causing severe damage to its structure.