多船会遇自主避碰算法

船舶碰撞事故不仅带来人员和财产的巨大损失，还造成了环境污染、资源浪费等严重后果。因此，船舶自主避碰技术已成为当前船舶与航运领域研究的热点问题。提出了一种满足COLREGs避碰规则的多船会遇自主避碰算法，以经典速度障碍法为基础设计自适应采样避碰轨迹生成算法，并应用运动基元理论对避碰轨迹进行调整，使轨迹满足船舶操纵性约束条件。针对案例三体船模型，完成了多船会遇场景下的船模自主避碰航行试验，验证了所提算法的有效性和实用性，对船舶自主避碰系统的研发具有重要借鉴意义。。

Autonomous Collision Avoidance Method for Multi-ship Encounter Situation

Ship collision accidents caused not only huge losses to human life and property, but also other serious consequences such as environmental pollution and waste of resources. Therefore, the research on autonomous collision avoidance system attracts the wide attention. A COLREGs-compliant autonomous collision avoidance method for multi-ship encounter situations was proposed in this paper. A new adaptive sampling algorithm which was based on the classical velocity obstacle method was used to generate the planned route. The motion primitive method with a full consideration of the ship maneuverability constraints was employed to adjust the planned route. Successful on-water tests of a trimaran model validate the effectiveness and superiority of the proposed method, which is valuable for further development of autonomous collision avoidance system.