Model Research On Automatic Collision Avoidance Of Ships In Confined Waterways Based On Improved Potential Field Method

With the rapid development of world shipping business,the range of ship's navigation is more and more broad,and more ships sail in confined waterways which channel width are narrow and ship's maneuvering are restricted.Due to the complexity of confined waterway environment,the possibility of the accidents of ship collision is increasing.However,the more research in ship automatic collision avoidance mainly concentrates on wide waterways,and there is still a lack of research on confined waterways.So taking a research on automatic collision avoidance of ships in confined waterways,making a model of automatic collision avoidance of ships,has important scientific value and practical significance for improving the safety of ship navigation.This paper analyses the character of collision avoidance on confined waterways.According to the ship maneuvering theory,the ship maneuvering mathematical model considering the outside environmental impact is built in the perspective of ship collision avoidance.After analyzing the factors influencing the risk of collision in confined waterways,the paper raise a concept of ship's and obstruction's domain with the view of own ship's officer.Combined with the navigation condition and the “rules” requirement as well as the concept of arena,the static obstruction's and ship's dynamic domain model on confined waterways is set up.And then develop the calculation model of ship collision risk index considering multi-factor effects.With these models and the character of collision on confined waterways,the potential field theory is adopted and set up the ship's automatic collision avoidance model in confined waterways.At last,several simulate test are taken place for straight and curve sea-route to simulate the process of ship's automatic collision avoidance with the model established,in order to achieve the purpose of ship's automatic navigation and shipping safety in confined waterways.As a result of this research,it could provide basic theory to develop practical ship intelligent automatic navigation.