基于改进模糊评价法的无人艇碰撞风险计算

doi:10.12305/j.issn.1001-506X.2024.03.29

系统工程与电子技术 ›› 2024, Vol. 46 ›› Issue (3): 1031-1037.doi: 10.12305/j.issn.1001-506X.2024.03.29

基于改进模糊评价法的无人艇碰撞风险计算

赵贵祥¹, 王晨旭¹^,*, 周健², 李云淼¹

1. 天津大学海洋科学与技术学院, 天津 300110
2. 中国船舶集团有限公司第七一六研究所, 江苏连云港 222061

收稿日期:2023-02-08 出版日期:2024-02-29 发布日期:2024-03-08
通讯作者: 王晨旭
作者简介:赵贵祥(1998—), 男, 硕士研究生, 主要研究方向为水面无人艇路径规划、避障技术
王晨旭(1984—), 男, 讲师, 博士, 主要研究方向为海洋结构物航行安全性能、水面无人艇避碰
周健(1996—), 男, 工程师, 硕士, 主要研究方向为航海安全保障、智能船舶
李云淼(2000—), 女, 硕士研究生, 主要研究方向为水面无人艇路径规划、避障技术

Collision risk calculation of unmanned surface vehicle based on improved fuzzy evaluation method

Guixiang ZHAO¹, Chenxu WANG¹^,*, Jian ZHOU², Yunmiao LI¹

1. School of Marine Science and Technology, Tianjin University, Tianjin 300110, China
2. The 716th Research Institute of China State Shipbuilding Corporation Limited, Lianyungang 222061, China

Received:2023-02-08 Online:2024-02-29 Published:2024-03-08
Contact: Chenxu WANG

摘要/Abstract

摘要：

为了解决传统模糊评价模型在船舶风险评估中多仅适用远距离场景, 以及缺乏考虑《国际海上避碰规则》(International Regulations for Collision Avoidance at Sea, COLREGs)等问题, 提出一种改进的模糊评价法, 用于计算水面无人艇(unmanned surface vessel, USV)的碰撞危险度。该方法采用四元船舶领域确定模型中的安全距离, 并通过行动域模型明确模型中碰撞威胁距离。同时, 将两船是否构成紧迫危险局面引入到碰撞危险度的计算中。实验结果表明, 改进后的方法能够适用于近距离水域的USV碰撞危险度计算, 同时满足COLREGs的要求和航海避碰实际情况。

关键词: 碰撞危险度, 模糊评价, 水面无人艇, 船舶领域, 动界

Abstract:

An improved fuzzy evaluation method for collision risk index calculation of unmanned surface vessel (USV) is proposed to solve the problems that traditional fuzzy evaluation models are mostly only applicable to long-range scenarios when used for ship risk assessment and the lack of consideration of International Regulations for Collision Avoidance at Sea (COLREGs). The method uses a quaternion ship domain to determine the safe distance in the model and clarifies the collision threat distance in the model through the action domain model. At the same time, whether two vessels form an immediate danger situation is introduced into the calculation of the collision risk index. The experimental results show that the improved method can be applied to the collision risk index calculation of USV in close waters. It also meets the requirements of the COLREGs and the actual situation of navigational collision avoidance.

Key words: collision risk index, fuzzy evaluation, unmanned surface vessel (USV), ship domain, arena

中图分类号:

U675.96

赵贵祥, 王晨旭, 周健, 李云淼. 基于改进模糊评价法的无人艇碰撞风险计算[J]. 系统工程与电子技术, 2024, 46(3): 1031-1037.

Guixiang ZHAO, Chenxu WANG, Jian ZHOU, Yunmiao LI. Collision risk calculation of unmanned surface vehicle based on improved fuzzy evaluation method[J]. Systems Engineering and Electronics, 2024, 46(3): 1031-1037.

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参数	取值
船长/m	3.2
船宽/m	2.2
总重/kg	130.0
进距Adv_o/m	16.5

船型	位置/m	航速/(m/s)	航向/(°)	真方位/(°)
目标1	(200, 180)	5	270	48.01
目标2	(1 000, 800)	5	300	51.34
目标3	(-100, 160)	8	090	328.00
目标4	(-900, 1 200)	8	080	323.13
目标5	(-120, 90)	6	090	306.87

船型	DCPA/m	TCPA/t	距离/m
目标1	-14.14	38.00	269.07
目标2	192.82	253.21	1 280.62
目标3	-82.70	17.98	188.68
目标4	-707.21	152.64	1 500.00
目标5	7.59	19.18	150.00

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基于改进模糊评价法的无人艇碰撞风险计算

Collision risk calculation of unmanned surface vehicle based on improved fuzzy evaluation method

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