基于深度强化学习的智能船舶航迹跟踪控制

[目的]智能船舶的航迹跟踪控制问题往往面临着控制环境复杂、控制器稳定性不高以及大量的算法计算等问题。为实现对航迹跟踪的精准控制,提出一种引入深度强化学习技术的航向控制器。[方法]首先,结合视线(LOS)算法制导,以船舶的操纵特性和控制要求为基础,将航迹跟踪问题建模成马尔可夫决策过程,设计其状态空间、动作空间、奖励函数;然后,使用深度确定性策略梯度(DDPG)算法作为控制器的实现,采用离线学习方法对控制器进行训练;最后,将训练完成的控制器与BP-PID控制器进行对比研究,分析控制效果。[结果]仿真结果表明,设计的深度强化学习控制器可以从训练学习过程中快速收敛达到控制要求,训练后的网络与BP-PID控制器相比跟踪迅速,具有偏航误差小、舵角变化频率小等优点。[结论]研究成果可为智能船舶航迹跟踪控制提供参考。     

Key technologies of ship remote control system in inland waterways under ship-shore cooperation conditions北大核心CSCD

［Objective ］ To meet the requirements of remotely controlling ship in curved, narrow and crowded inland waterways, this paper proposes an approach that consists of CNN-based algorithms and knowledge based models under ship-shore cooperation conditions. ［Method］On the basis of analyzing the characteristics of ship-shore cooperation, the proposed approach realizes autonomous perception of the environment with visual simulation at the core and navigation decision-making control based on deep reinforcement learning, and finally constructs an artificial intelligence system composed of image deep learning processing, navigation situation cognition, route steady-state control and other functions. Remote control and short-time autonomous navigation of operating ships are realized under inland waterway conditions, and remote control of container ships and ferries is carried out. ［Results］The proposed approach is capable of replacing manual work by remote orders or independent decision-making, as well as realizing independent obstacle avoidance, with a consistent deviation of less than 20 meters. ［Conclusions］The developed prototype system carries out the remote control operation demonstration of the above ship types in such waterways as the Changhu Canal Shenzhou line and the Yangtze River, proving that a complete set of algorithms with a CNN and reinforcement learning at the core can independently extract key navigation information, construct obstacle avoidance and control awareness, and lay the foundation for inland river intelligent navigation systems. © 2022 Journal of Clinical Hepatology. All rights reserved.     

基于动态面控制方法的船舶动力定位控制

随着经济全球化的发展,人们对海洋资源的开采和利用逐年加深,在开采过程中需要在船舶上进行数据采集,保证船舶的稳定性对研究海洋资源具有深远的意义。本文通过引入动态面控制算法,利用动态面控制技术为动力定位船舶设计控制系统,每一步使用一阶积分滤波器来评估虚拟控制输入的导数,仿真结果显示与传统的backstepping方法相比减低了计算的复杂度,增强了鲁棒性。     

智能船舶航行功能测试验证的方法体系

智能船舶航行技术发展的核心在于构建从辅助决策到自主驾控的完整软硬件系统,实现人工驾驶到智能驾驶的演化,而核心技术的突破与软硬件系统的研发离不开完善的测试验证体系和健全的规范标准.对目前国内外智能船舶测试场现状进行综述,对以性能、能效、信息、智能为对象的智能船舶航行功能测试构想进行解析,最终提出以虚拟仿真为初试、模型测试...     

舰船防污染技术新进展

介绍了舰船防污染领域中生活污水处理技术,灰水处理技术、油污水处理技术的现状,对现有船舶污水处理装置存在的问题进行了分析,论述了船舶污水处理技术的发展趋势．     

基于MATLAB的舰船辐射噪声信号小波消噪处理

针对舰船辐射噪声信号的特点提出了小波消噪的方法,对小波消噪理论作了简要的阐述,并设计了一种消噪方案,最后利用MATLAB,在计算机上选用不同的小波基和阈值进行了实船信号的消噪处理试验,并对结果进行了简单的分析比较。试验结果表明,在选择了合适的小波基和阈值的情况下,利用小波变换的方法对舰船辐射噪声进行消噪处理可以取得良好的效果。     

面向国产大型邮轮的虚拟设计评审方案研究

本文分析了国内大型邮轮三维设计模型的虚拟评审需求,基于Intergraph Smart 3D和SmartPlant Review软件,提出了国产大型邮轮虚拟设计评审的总体解决方案。该方案采用三维模型轻量化、模型虚拟评审以及大型邮轮设计-评审数据转换等关键技术,实现了面向大型邮轮设计的沉浸式三维模型全流程虚拟评审,并通过在国产大型邮轮设计模型上的应用测试,验证了该方案的可行性,可为提高大型邮轮设计生产效率、缩短建造周期以及降低生产成本等提供重要的技术支撑。     

Key criteria influencing the choice of Arctic shipping: a fuzzy analytic hierarchy process model

As Arctic sea ice shrinks due to global warming, the Northern Sea Route (NSR) and the Northwest Passage (NWP) offer a substantial reduction in shipping distance between Asia and the European and North American continents, respectively, when compared to conventional routes through the Suez and Panama Canals. However, Arctic shipping routes have many problems associated with their use. The main objective of this paper is to identify the key criteria that influence the decisions of shipping operators with respect to using Arctic shipping routes. A multi-criteria decision-making methodology, the Fuzzy Analytic Hierarchy Process, is applied to rank four potential categories of criteria (‘economic’, ‘technical’, ‘political’ and ‘safety’ factors) and their sub-criteria.

The results of the analysis suggest that, on aggregate, ‘economic’ is the most important category of influential factors, followed by ‘safety’, ‘technical’ and ‘political’ factors. The paper concludes, however, that the most influential specific sub-criteria relate to risks that lie mainly within the ‘safety’ and ‘political’ domains and that, especially in combination, these overwhelm the importance which is attached to ‘economic’ factors such as reduced fuel use. Finally, the implications of these findings for the future development of Arctic shipping are addressed at a strategic level.     

超大型油轮系缆力实测研究

为满足超大型船舶在开敞式码头不利的环境要素下安全系泊作业,该文从影响超大型油轮(VLCC)系缆力因素的实际出发,利用构建的系缆力实测平台对VLCC进行有针对性的现场系缆力实际测量。将得到的系缆力实测数据利用一定的数据处理方法进行处理,得出超大型船舶系缆力在特定现实环境要素下的受力曲线,分析出不同于前人理论研究和操作经验的观点和结论,并针对各条结论提出建议,供船舶和工程人员参考。     

钛合金材料在舰艇中的应用及需求分析

文章总结了钛合金材料在舰艇中的应用情况,分析了钛合金材料应用于舰艇的特点和应用前景,提出了船用钛合金材料研制的发展方向。