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1.
Collision at sea is always a significant issue affecting the safety of ship navigation. The shipborne autonomous collision avoidance system (SACAS) has the great advantage to minimize collision accidents in ship navigation. A parallel trajectory planning architecture is proposed in this paper for SACAS system. The fully-coupled deliberative planner based on the modified RRT algorithm is developed to search for optimal global trajectory in a low re-planning frequency. The fully-coupled reactive planner based on the modified DW algorithm is developed to generate the optimal local trajectory in a high re-planning frequency to counteract the unexpected behavior of dynamic obstacles in the vicinity of the vessel. The obstacle constraints, ship maneuvering constraints, COLREGs rules, trajectory optimality, and real-time requirements are satisfied simultaneously in both global and local planning to ensure the collision-free optimal navigation in compliance with COLREGs rules. The on-water tests of a trimaran model equipped with a model-scale SACAS system are presented to demonstrate the effectiveness and efficiency of the proposed algorithm. The good balance between the computational efficiency and trajectory optimality is achieved in parallel trajectory planning. 相似文献
2.
As the number of ships for marine transportation increases with the globalisation of the world economy, waterways are becoming more congested than before. This situation will raise the risk of collision of the ships; hence, an automatic collision avoidance system needs to be developed. In this paper, a novel approach based on deep reinforcement learning (DRL) is proposed for automatic collision avoidance of multiple ships particularly in restricted waters. A training method and algorithms for collision avoidance of ships, incorporating ship manoeuvrability, human experience and navigation rules, are presented in detail. The proposed approach is investigated not only by numerical simulations but also by model experiments using three self-propelled ships. Through the systematic numerical and experimental validation, it is demonstrated the developed approach based on the DRL has great possibility for realising automatic collision avoidance of ships in highly complicated navigational situations. 相似文献
3.
Achieving a reliable and accurate numerical prediction of the self-propulsion performance of a ship is still an open problem that poses some relevant issues. Several CFD methods, ranging from boundary element methods (BEM) to higher-fidelity viscous Reynolds averaged Navier–Stokes (RANS) based solvers, can be used to accurately analyze the separate problems, i.e. the open water propeller and the hull calm water resistance. However, when the fully-coupled self-propulsion problem is considered, i.e. the hull advancing at uniform speed propelled by its own propulsion system, several complexities rise up. Typical flow simplifications adopted to speed-up the simulations of the single analysis (hull and propeller separately) lose their validity requiring a more complex solver to tackle the fully-coupled problem. The complexity rises up further when considering a maneuver condition. This aspect increases the computational burden and, consequently, the required time which becomes prohibitive in a preliminary ship design stage.The majority of the simplified methods proposed in literature to include propeller effects, without directly solve the propeller flow, in a high-fidelity viscous solver are not able to provide all the commonly required self-propulsion coefficients. In this work, a new method to enrich the results from a body force based approach is proposed and investigated, with the aim to reduce as much as possible the computational burden without losing any useful result. This procedure is tested for validation on the KCS hull form in self-propulsion and maneuver conditions. 相似文献
4.
近年来全世界范围内船撞桥事故时常发生，尤其是大型跨海桥梁，对其进行合理的船撞桥风险评估逐渐成为桥梁安全运营的重要保障之一。通过对近年国内外船撞桥案例调研分析，确定了影响事故的多重因素，建立包括4个二级风险评价指标和18个三级指标的层次化评价指标体系，并运用层次分析（AHP）法和熵权法，对各评价指标进行主客观综合赋权，明确各个风险因素对船舶撞击的重要性程度，基于模糊数学理论对船撞桥风险进行多层次综合评判。以浙江省舟山朱家尖跨海大桥为工程背景，结合该桥某年船舶通航统计数据，运用上述方法进行船撞桥风险评估，计算表明朱家尖跨海大桥平均风险评价值为4.22，属于可接受中风险水平，并提出了相应的风险控制对策及措施。 相似文献
5.
基于AIS的船舶会遇局面紧迫度量化分析 总被引：1，自引：0，他引：1
近年来船舶大型化、高速化的发展以及数量的不断递增,导致船舶碰撞概率大大增加。为更好地保障船舶航行安全,提出船舶会遇局面紧迫度这一概念。该概念表征船舶在当前航行状态下由于一定范围内所有其他船舶的存在而处于的会遇局面的紧迫程度,其旨在帮助船舶驾驶员实时感知并掌握船舶在海上航行时所处会遇局面的状况,从而据此加以判断并及时采取措施规避碰撞风险。建立了船舶会遇局面紧迫度的计算模型,该模型以考虑到本船速度的动态圆形领域为空间约束条件,综合考虑其他船舶相对于本船的方位分布和距离这两个指标的影响,基于信息量量化紧迫度。利用2016年1月1日天津港AIS数据进行紧迫度的计算与分析,计算结果与实际相符,该计算模型能够准确反映船舶在航行过程中所处会遇局面的紧迫程度。利用双线性内插法建立天津港区域紧迫度二维彩色平面分布图,其表达效果优于传统热度图。 相似文献
6.
针对船舶与中空夹层钢管混凝土（CFDST）导管架平台碰撞问题,利用ABAQUS/Explicit非线性有限元软件建立中空夹层钢管混凝土导管腿导管架数值模型,对船舶碰撞进行数值模拟,对比分析1 m/s、2 m/s和3 m/s的3种碰撞速度下工况下导管架抗碰撞性能、耗能及损伤。从碰撞力、碰撞区域变形以及导管架能量耗散等方面详细研究中空夹层钢管混凝土导管腿作用下导管架整体的损伤模式和动力响应。结果表明：CFDST导管架在船舶碰撞荷载作用下主要由CFDST导管腿耗能,有效控制了结构整体位移变形,提升了整体刚度,有效发挥平台各构件之间组合耗能,结构抗碰撞能力得到明显提升。 相似文献
7.
针对多礁石、渔船等障碍物的近海复杂环境下的一些应用,提出了一种基于有限状态机(finite-state machine,FSM)模型的无人船(unmanned surface vehicle,USV)局部转向避碰路径规划算法。首先,基于速度障碍法和障碍物区域分层方法,获取无人船固定航速条件下的航向角约束解析结果。然后,基于该约束条件及障碍物探测情况设计FSM的有限状态及执行动作和状态迁移条件,其中,通过转向控制实现向目标位点或缓冲位点进行导航的状态为FSM的2个重要状态。最终通过FSM的执行实现局部转向避碰路径规划。仿真结果表明提出的多障碍物避碰算法具有可行性和实用性。该方法易于改进和扩展,且容易与当前主流的无人船控制系统结合,有利于无人船避碰系统快速工程化的实现。 相似文献
8.
为解决无人船适用海商法存在的问题,促进我国无人船海上运输产业的健康可持续发展,文章从法理的角度阐释国际海事委员会无人船调查问卷中无人船的法律地位、船长和船员的认定以及无人船的碰撞责任,提出无人船适用海商法存在不确定性风险;在海商法领域,无人船的法律地位认定、船长和船员的识别以及船舶碰撞责任的适用仍存在问题,解决上述问题的有效路径是明确无人船的法律地位、将岸基控制人员识别为船员、采用过错责任原则认定无人船的碰撞责任以及合理分配船东与生产者之间的碰撞责任,以合理规避无人船的风险。 相似文献
9.
K. H. Kwik 《Ocean Engineering》1989,16(5-6)
The moment at which in a two-ship encounter a collision avoidance manoeuvre should be initiated in order to achieve a specific distance at the closest point of approach has been calculated. The calculations were based on the kinematics of encounter and simplified equations of motion. Mathematical equations which relate the maneouvring distance, the turning direction and the extent of course change for any desired passing distance and any given turning rate are determined. Knowledge of these quantities is essential for the safe conduct of the ship with automatic, computer-assisted navigation as well as with ordinary, manual navigation if the navigator no longer contents himself with estimates but wishes to know precisely in advance the outcome of any specific manoeuvre he chooses. 相似文献
10.
Collision between risers is an important design and operational concern, especially in deep water since the probability of collision tends to increase as the riser length increases. Riser collision is due to the joint effects of many processes, i.e. environmental loads, hydrodynamic interference and surface floater motions and the most of them are stochastic processes. This paper provides an approach for estimating the failure probability of riser collision by considering these joint effects and their stochastic nature. Firstly, a procedure for establishing the distribution function of the extreme minimum relative distance between two risers is introduced based on simulation tools and statistical data. Numerical simulation is performed to compute the minimum distance between risers for a given duration. Repeated simulations are applied so that the extreme value distribution can be established. Secondly, reliability analysis is performed by considering the uncertainties of input parameters related to environmental loads and riser system. The collision probability is calculated based on both the First/Second Order Reliability Method and the Monte Carlo simulation techniques. 相似文献
11.
Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV’s heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing. 相似文献
12.
As the maneuverability of a ship navigating close to a bank is influenced by the sidewall, the assessment of ship maneuvering stability is important. The hydrodynamic derivatives measured by the planar motion mechanism (PMM) test provide a way to predict the change of ship maneuverability. This paper presents a numerical simulation of PMM model tests with variant distances to a vertical bank by using unsteady RANS equations. A hybrid dynamic mesh technique is developed to realize the mesh configuration and remeshing of dynamic PMM tests when the ship is close to the bank. The proposed method is validated by comparing numerical results with results of PMM tests in a circulating water channel. The first-order hydrodynamic derivatives of the ship are analyzed from the time history of lateral force and yaw moment according to the multiple-run simulating procedure and the variations of hydrodynamic derivatives with the ship-sidewall distance are given. The straight line stability and directional stability are also discussed and stable or unstable zone of proportional-derivative (PD) controller parameters for directional stability is shown, which can be a reference for course keeping operation when sailing near a bank. 相似文献
13.
The energy dissipation on the bow structure is calculated during a “head-on” collision with a rigid body, using finite element analysis. Gerard's method (Gerard, G., 1958. The crippling strength of compression elements. Journal of the Aeronautical Sciences), an empirical approach, is compared with the results produced by ABAQUS in terms of velocity, energy and penetrating distance. The energy conservation theorem is applied and the contribution of all individual structural members in terms of elastic and plastic energy is calculated. The strain distribution is shown for those members responsible for the water tightness and structural integrity of the structure. The global bending of the upper part of the bow is shown as well as the effect of the total ship mass inertia, phenomena which have not been incorporated into Gerard's approach ( Gerard, 1958). The final time of rest predicted from both methods is compatible and this validates the reliability of the numerical approach. 相似文献
14.
通过引入合理的撞击模型,建立了水面运动船只低速撞击埋置框架结构的传递矩阵-节点耦合矩阵动力分析模型。该模型可模拟船只与结构在撞击过程中的短暂脱离,并分析撞击力时程曲线和整个撞击系统的动力响应。与有限元方法的比较验证了结构传递矩阵-节点耦合矩阵动力分析方法的有效性。不同于规范计算方法,分析发现撞击过程中的最大撞击力不仅与船只的初始动能有关,还受船只与结构间的接触刚度及结构的自身刚度影响,这两种刚度越大,则最大撞击力也越大,撞击持续时间则越短,而撞击力时程曲线的振荡越明显,甚至在船只撞击结构后的很短时间内就可能产生较大的撞击力峰值。 相似文献
15.
Energy-optimal trajectories for underwater vehicles be computed using a numerical solution of the optimal control problem. A performance index consisting of a weighted combination of energy and time consumption is proposed. Collision avoidance is solved by including path constraints. Control vector parameterization with direct single shooting is used in this study. The vehicle is modeled with six-dimensional nonlinear and coupled equations of motion. Optimal trajectories are computed for a vehicle controlled in all six degrees of freedom by dc-motor-driven thrusters. Good numerical results are achieved 相似文献
16.
It has been argued that a major shortcoming in the International Maritime Organization (IMO) Interim Guidelines for Approval of Alternative Methods of Design and Construction of Oil Tankers in Collision and Grounding is that grounding and collision damages normalized by the main dimensions of the ship have the same probability density distributions regardless of a particular structural design and ship size.The present paper explores analytical methods for assessing the overall effect of structural design on the damage distributions in accidental grounding and collisions. The results are expressed in simple expressions involving structural dimensions and the building material of the ships. The study shows that the density distribution for collision and grounding damages normalized by the main dimensions of the ship depends on the size of the ship. A larger ship has a higher probability of a larger relative damage length than that of a smaller ship in grounding damage. On the other hand, the damages to the side structure caused by ship collisions are found to be relatively smaller for large ships.The main conclusion is that the existing IMO damage distributions will severely underestimate the grounding damages to the bottom structure of larger vessels and to a lesser extent overestimate collision damages to the side structure of the hull. 相似文献
17.
建立了基于风险的船体结构腐蚀优化检测规划的成本-效益分析模型。以费效比作为选择最优检测策略的标准,最优的检测策略是在保证结构设计工作寿命期内的可靠指标大于最低可靠指标的基础上,使得结构生命周期内总的费效比最大。在此基础上,以受点腐蚀损伤的船体构件为例,对其检测策略进行了成本-效益评估,并对计算结果进行了敏感性分析。结果表明,基于风险的成本及效益分析方法可以将检测规划的经济性和可靠性有效地结合起来,能够在风险与成本之间达到一种平衡,它在优化检测策略时是有效的。 相似文献
18.
Dynamics of ships and fenders during berthing in a time domain 总被引：2，自引：0，他引：2
When designing fixed or semi-fixed structures used for berthing ships, it is generally assumed that the entire kinetic energy of the ship is absorbed by the fender or the system of fenders. The fenders have the functions of ensuring a safe berthing both for the ships and the piers by absorbing shock loads and preventing direct contact between the berthed ship and the pier. In this study, the problem is analyzed in the stages of berthing, collision and leaving. Each of the stages is analyzed and solved in the time domain. The system is assumed to consist of three components: pier, fender and the ship. Environmental effects that simultaneously affect berthing are wave, current and wind effects. Cummins equation was assumed to be a good representation of the problem and was solved in time domain taking various factors into account. Nonlinear effects related to the instantaneous values of forces, moments and ship motions, which are time dependent, were studied by the Cummins equation and its later developments by Ogilvie. Fender forces were added to the calculation scheme by the authors. A case study for a passenger ferry operating in Izmir bay is presented. 相似文献
19.
20.
The use of ship's radar for collision avoidance presents a fundamental problem in threat detection and identification since all vessel radar returns ("paints") look alike. As a result, when a ship master caught in a fog is trying to use his radio-telephone to work out a maneuvering plan with another vessel, it is difficult for him to identify which blip on the planar position indicator PPI is the source of the voice on the radio. One solution now receiving worldwide attention is to fit all vessels with active transponders. The marine radar interrogator-transponder (MRIT) is an advanced form of transponder which includes an integral interrogator and works in coordination with the ship radar to provide not only target identity and "clutter-free" target paints, but also maneuvering information and such data as target's course, speed, draft, safe or dangerous cargo, etc. Mounted on a fixed navigation aid, the transponder portion alone can also function as a racon (radar beacon). This paper describes the operational parameter and reviews the system bench tests and sea trials. 相似文献