Research On Ship Collision Avoidance Decisions Based On Improved Beetle Antennae Search Algorithm

With the continuous development of shipping industry,ship’s navigation becomes more and more intensive,and ship collisions become more frequent,so there is an urgent need for in-depth exploration and research of intelligent collision avoidance methods for ships.The current ship encounter scenario is mostly a two-ship encounter,requiring ships to make fast response collision avoidance decisions,but the maritime traffic environment is becoming increasingly complex,and in the face of a more complex multi-ship encounter situation,how to make the collision avoidance strategy both real-time and efficient in the two-ship encounter scenario,and also meet the faster response and more accurate results in the multi-ship encounter scenario is the main problem of this thesis.This thesis takes two-ship and multi-ship encounter scenario in sight of one another in open water area as the research background,improves the multi-ship collision avoidance decision for the problem of general ability of Beetle Antennae Search Algorithm,and provides real-time collision avoidance decision suitable for the current encounter situation through the improved algorithm.By simulating a variety of ship encounter scenarios and analyzing the resulting collision avoidance decisions,the reliability and feasibility of the collision avoidance decisions given by the hybrid optimization algorithm in this paper are proved,which effectively reduces the probability of collision and improves the safety of ship navigation,with important theoretical and practical significance.The main research work of this thesis is as follows:Firstly,the collision avoidance mechanism in the field of ships is outlined,the calculation methods of ship motion parameters,the definition of collision risk and collision risk degree are elaborated,and risk assessment method are determined;the situation of multi-ship encounter collision avoidance auxiliary decision-making is summarized;the basic principles and implementation steps of the simulated annealing algorithm and Beetle Antennae Search Algorithm are deeply analyzed,and the advantages and disadvantages of applying the algorithm to the field of collision avoidance are analyzed.The Beetle Antennae Search Algorithm is finally determined as the core algorithm for this study.Secondly,in view of the local optimal value of the Beetle Antennae Search Algorithm and the general ability of integrated assisted decision making when facing two-ship and multi-ship collision avoidance,the simulated annealing process of the Simulated Annealing algorithm is combined to improve the Beetle Antennae Search Algorithm,and a hybrid optimization algorithm model of BAS-SA is constructed.A two-layer loop structure is established,and the optimization performance of the Beetle Antennae Search Algorithm is enhanced by the probabilistic jump-out characteristics of the simulated annealing algorithm,thus improving the ability of the algorithm to jump out of local optimal values.Finally,the application of the improved Beetle Antennae Search Algorithm in ship collision avoidance is deeply studied.Factors such as instant marine visibility,water conditions,driver skills,and experience are considered,and a ship collision risk assessment model based on the traditional fuzzy comprehensive evaluation method is established;taking into account the safety objectives and economic objectives of ship navigation,a ship collision avoidance objective function based on steering amplitude and navigation time is constructed;Using the improved Beetle Antennae Search Algorithm,the optimization of the ship collision avoidance strategy is completed in the scenario of multiple ship encounters,and the optimal steering amplitude and resumption time of the yielding ship in the global range are obtained.The feasibility and efficiency of the algorithm are verified through simulation.The experimental results show that the improved collision avoidance algorithm can quickly find the optimal solution in multiple ship encounter scenarios under the premise that the ship complies with the collision avoidance rules,and realize the safe sailing of the ship and the target ship to give way,which helps to improve the ship officers’ collision avoidance decision-making ability in the multi-ship encounter scenarios,reduce the possibility of mutual collision of ships and ensure safe navigation.