Study On Multiple Objective Decision Making In Collision Avoidance At Sea

The research on intelligent decision-making system of vessel collision aviodance(ICAS) is a hot and front resaerch area in this subject and the key technology of automatic technology of ship.It helps improve the safety of navigation and economy,and it also enhance the degree of automation and information.The background of this dissertation is that China's shipbuilding plan will support the development of the shipbuilding industry innovation which proposed in "ship industrial restructuring and revitalization plan".It relys on research projects of national high-tech ship project "Development of an integrated bridge system" project and Wuhan special projects of major science and technology industry.and the research of this dissertation will use in the domestic generation of integrated bridge system independently developed which install bulk,container and oil tanker.The major contributions of the dissertation are as follows.(1)It proposed the framework of dynamic collision avoidance system which based on the principles of Automatic Control.It established ship motion mathematical model with six degrees of freedom(DOF),and manipulated the movement of a ship property for avoidance collision which is a container with 55000T.and established a specific disturbance waves mathematical model of ship motion during the process of avoidance collision.the dissertation also simulated the ship's turning motion and Z-control motion with the full mission ship handling simulation.it focuses on the simulation of the track which disturbance with wind and wave to provide basic data manipulation for collision avoidance.(2)The dissertation designed the data fusion algorithms of integrated bridge system based on radar and AIS sensors, and then simulated it to verify that the method can effectively improve the system's accuracy and reliability of navigation data.(3)The dissertation established a comprehensive multi-factor risk model of ship avoidance collision and gived a comprehensive risk assessment model with the rules of collision avoidance,collision avoidance practice and common practice in the crew based on the fuzzy set theory,and it can determinate of collision risk rapidly and quantitatively in intelligent decision-making system of vessel collision aviodance. finally, the disseration established of model simulation and got reliable results.(4)The dissertation proposed the mathematical model based on optimal control and the calculation process of reconciliation for ship collision avoidance,Combined with the equations of motion and the constraints of ship collision avoidance.It analysised and solved this problem in two different objectives:the shortest path collision avoidance control and the shortest collision avoidance control.Finally,it simulated the shortest path collision avoidance control based on the actual data and interpreted the experimental results which showed that the process of realistic solver.(5)The dissertation builded and developed the intelligent decision-making system of vessel collision aviodance(ICAS) with matlab and Visual Studio 2008, designed and developed an integrated solution which combinated the ICAS and the IBS,which based on on optimal control model, combined with collision avoidance maneuverability and ship collision risk model.Finally,It simulated typical case of collision avoidance with ICAS, which provide the basis for the system test on real ship.Research and application of the ICAS can greatly reduce the driver's labor intensity, reduce human-induced accidents. Meanwhile, the safe navigation of the ship,reducing loss of life and property,protect the marine environment is also of great practical significance's a very valuable research.