A Study On The Ship Domain And The Collision Avoidance Decision Optimization For Inland Waterway Ship

In recent years,ship maneuvering has become more and more difficult and the ship collision accidents happen very often,because of rapidly increasing of the number of ships,increasing of vessel density,and being restricted by channel,bridge,water depth.Enormous economic lost and hazard is caused by the ship collision accident,and serious water pollution is caused by the collision accident of dangerous goods ships.Therefore,it is an urgent problem that how to prevent the collision accidents in the areas of inland water traffic safety.Based on the two-dimensional ship domain and egg-type ship domain,the three-dimensional,dynamic and circular pie ship domain is proposed.The mathematical model of collision avoidance path optimization for inland river ships is established based on the ship domain,which is been successfully used to simulation experiment of immobile obstacle,underwater obstacle,bridge,etc.The details of research are as follows.(1)The research literature is divided into three parts to review,which are the ship domain,the ship collision risk index(CRI)and the method of decision-making of collision avoidance.The research status of collision avoidance to inland ships is analyzed contrastively,and the research trends are predicted.(2)The source of ship's collision danger is identified from the three aspects,which are navigation environment,encountered ships and the ship-self.The ship domains are analyzed in different navigation environment,and the inland ship domain is simplified based on the model of the head to head situation and the overtaking situation.On this basis the space model of the three-dimensional,dynamic ship domain is established,after the three-dimension and dynamic of ship domain is analyzed.(3)The three-dimensional minimal safety domain is established because of the minimum safe distance,bank suction and suction between ships.And a mathematic model for calculate the risk of collision is established,from the four aspects(surface,up-water,under-water,comprehensive evaluation).(4)The mathematical model of collision avoidance path optimization for inland river ships is established,based on the genetic algorithm by path point coding method,with the goal of the minimum risk and the shortest path.The simulation experiments are carried out for immobile obstacle,underwater obstacle,bridge,the head to head situation and the overtaking situation,with the MATLAB programming.The simulation experiment results show that the mathematical model of collision avoidance path optimization,based on the ship domain,is applicable to inland ships.Research results put forward a new method for collision avoidance of inland ships,and they have important implications for protecting water traffic safety.