Research On Collision Avoidance System Of Intelligent Unmanned Ship

With the development of ship engineering and shipping technology,unmanned surface vehicle(USV),as a new type of surface ship,has attracted much attention.It has some characterics,such as:high technology,all-weather,fast response,no decision fatigue,and has the advantages of fast speed and high efficiency when completing tasks too.At present,all countries attach great importance to the development of surface unmanned vessels.As an important part of a new type of intelligent navigation system,the intelligent collision avoidance system of unmanned ship is one of the cores of the whole unmanned ship system.The realization of scientific collision avoidance function is not only the premise of ensuring the safe navigation of the unmanned ship and the successful completion of various tasks such as transportation,cruise and monitoring in the increasingly complex waterway transportation situation,but also the embodiment of the research and development level of ship engineering technology.Unmanned ships on the surface are required to independently avoid static and dynamic obstacles in an environment with unknown altitude,so as to achieve safe navigation.The traditional obstacle avoidance system,which is used to assist the crew to make correct ship avoidance during navigation,is difficult to meet the autonomous collision avoidance requirements of surface unmanned vessels.So,this paper proposes a dynamic collision avoidance system for unmanned surface ship based on local path planning· predict the future ship track based on the ship information collection and processing function,and judge the situation in which the ship will encounter.Fuzzy evaluation algorithm is used to determine the risk of collision.And A* algorithm is used to plan A new safe collision avoidance path for unmanned ship,so as to realize collision avoidance for unmanned ship against dynamic obstacles.Finally,a ship dynamic collision avoidance system based on global path planning was established under the Labview simulation platform,and simulation tests were carried out respectively for ships in various encounters.The simulation results proved the reliability and practicability of the system.