在港口和船舶密度高的航线上，船舶之间发生碰撞事故的概率比较高，尤其是船舶在会遇过程中，航向角的判断、船舶操作人员的反应快慢等，都是造成船舶碰撞事故发生的因素。传统的船舶避碰控制以人为操作和经验为主，避碰控制水平相对较低。本文将研究重点放在多规则约束条件下的船舶实时避碰算法开发上，定义了船舶实时避碰控制过程的关键参数，如航向偏差、路径偏差等。结合船舶避碰过程的数学建模和算法控制，基于Matlab软件实现了船舶的避碰控制和路径规划，具有一定应用意义。
The probability of collision accidents between ships is relatively high in ports and routes with high ship density. Especially in the course of collision, the judgment of heading Angle and the response speed of ship operators are all factors causing ship collision accidents. Traditional ship collision avoidance control is based on human operation and experience, and the level of collision avoidance control is relatively low. This paper focuses on the development of real-time collision avoidance algorithm for ships under the condition of multi-rule constraints, defines the key parameters of real-time collision avoidance control process for ships, such as course deviation, path deviation, etc. Combined with the mathematical modeling and algorithm control of ship collision avoidance process, the ship collision avoidance control and path planning is realized based on matlab software, which has important application significance.
2023,45(14): 164-167 收稿日期：2023-3-13
DOI：10.3404/j.issn.1672-7649.2023.14.032
分类号：U642.58
作者简介：张哲(1975-),男,硕士,副教授,研究方向为航海技术、水上交通安全控制及航海教育。
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