Research On Ship Intelligent Collision Avoidance Based On Hybrid Algorithm

With the development of automation,Internet of Things and artificial intelligence technology,ships are developing in the direction of intelligence and unmanned,and the intelligent collision avoidance of ships is one of the key technologies to realize the autonomous navigation of intelligent ships.In the practice of ship collision avoidance,multi-ship encounter situations are common and complex.Improving the level of intelligent collision avoidance of ships in complex situations is of great significance to the safety of ship navigation.This thesis takes multi-ship collision avoidance as the research object,considering the "1972 International Regulations for Avoiding Collision at Sea"(referred to as "Collision Regulation")and the requirements of good seamanship for ship collision avoidance actions,and with the help of the fast optimization ability of the hybrid optimization algorithm,the design An intelligent collision avoidance model for multi-vessel encounters under static and dynamic environments.The main work is as follows:(1)According to the relevant provisions of the "Collision Avoidance Rules" on mutual seeing,establish the identification model of the encounter situation between the own ship and the target ship,clarify the avoidance responsibilities of the own ship and the target ship,and based on this,establish the ship motion parameters and ship collision Risk calculation model.(2)In order to solve the problems of slow search speed at the initial stage of iteration and easy to fall into local optimum when particle swarm algorithm realizes ship path planning,the selection of genetic algorithm and crossover operator are introduced to improve the algorithm.The hybrid optimization algorithm constructed improves the global search ability of the algorithm,effectively shortens the length of the ship’s optimal path,and lays the foundation for setting the ship’s planned route.(3)Construct a grid map of the marine environment based on the electronic chart,and use a hybrid optimization algorithm to plan a static global path on the map.At the same time,in order to meet the needs of ship navigation,smooth the planned path to make it more suitable for the ship.manipulation characteristics.(4)Realize the local dynamic collision avoidance of ships based on the dynamic window method,design different encounter situations,and conduct simulation experiments on two-ship and multi-ship encounters.The path searched by the hybrid optimization algorithm is further optimized to make the path more in line with the planned route of the ship.On this basis,the collision avoidance simulation experiment is carried out to verify the effectiveness of the algorithm.In summary,the collision avoidance model proposed in this thesis can effectively carry out route planning and realize multi-ship collision avoidance,so that ships can meet safely,and the relevant research results can provide certain theoretical support for the realization of ship intelligent collision avoidance.