共查询到20条相似文献，搜索用时 15 毫秒
1.
A prior study attempted to solve the intrinsic problem of a critical collision condition including the slower ship’s dilemma by considering the maneuverability of the own ship and the International Regulations for Preventing Collisions at Sea (COLREGs). The collision ratio proposed in the previous study provided insight into the solution of the intrinsic problem, but it was not suitable as an index to determine the time at which to begin the maneuver to avoid the collision.This paper develops a collision ratio as an index that can be used to determine the time at which to begin the collision avoidance maneuver. The collision ratio is calculated by considering the maneuverability of the own ship, the COLREGs, and three virtual intrusion domains (VIDs). The validity of the inferred collision ratio is then assessed according to the dynamic characteristics of the own ship and the basic knowledge of the collision avoidance algorithm. The results indicate that the proposed collision ratio is suitable for use as a new index to determine the time at which to begin the collision avoidance maneuver. 相似文献
2.
A ship optimal trajectory planning method based on the dynamic model of the ship is presented. First a mathematical modular model is introduced for describing the non-linear dynamics of the ship. Then the problem of optimal trajectory planning is discussed. The trajectory is obtained through the optimization of a time-energy criterion, taking into account constraints on the steering system, environment, non-linearities, and non-convexity of the state space equations. The discrete augmented Lagrangian approach is used to compute the optimal constrained controller. The method was programmed on a HP700 workstation. This approach was applied to automatic ship berthing maneuver 相似文献
3.
随着全球经济的快速发展，海上运输由于其运力大、运费低而变得更具实用性。然而，这也意味着在海上航道行驶的船只正变得越来越多，这将导致在复杂的海洋环境中航海船只发生事故的可能性会很高。据相关历史的统计，在海域中航行缺乏高精度导航数据会导致大量事故，这种累积的事故信息可以被用来提高航海的安全性。本文通过将蕴含在AIS (Automatic Identification System) 大数据中的经验导航信息挖掘出来，以辅助实现复杂海事环境下安全可靠的船舶路径的生成。本文提出了一种基于大数据自动生成船舶路径的新方法。该方法首先在大量船舶轨迹上通过DBSCAN (Density-Based Spatial Clustering of Applications with Noise) 聚类形成不同的轨迹矢量簇。然后，迭代计算轨迹矢量簇的中心线，并从这些中心线之间的节点-弧段拓扑关系来构建航道网络。最后，基于航道网络来实现船舶路径的生成，对于航道网络未覆盖的海域，则通过海洋环境风险栅格的路径规划来实现船舶路径的生成。不同海域不同AIS数据集进行的多次实验结果表明，本文提出的船舶路径生成方法是有效性。 相似文献
4.
5.
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
6.
Conventional weather routing is defined as determining the optimum route for a merchant ship such that distance or duration of the voyage and fuel consumption are minimized. If the purpose of a voyage is offshore transfer, the term “optimum” includes aspects of operational safety such as towing tension and six-degree motion response of tow. This paper presents the development of a weather routing method for determining the optimal route, which is defined here as the route with minimum average towing tension with a restricted time of arrival and significant motion response. A genetic algorithm is applied to solve optimization problems. Optimized routes of this research have an advantage in towing tension and satisfy motion constraints. The result of this study can contribute to safe and effective planning for offshore transport. 相似文献
7.
GPU-Based DEM Simulations of Global Ice Resistance on Ship Hull During Navigation in Level Ice 总被引：1，自引：0，他引：1
The ice resistance on a ship hull affects the safety of the hull structure and the ship maneuvering performance in icecovered regions.In this paper,the discrete element method(DEM)is adopted to simulate the interaction between level ice and ship hull.The level ice is modeled with 3D bonded spherical elements considering the buoyancy and drag force of the water.The parallel bonding approach and the de-bonding criterion are adopted to model the freezing and breakage of level ice.The ship hull is constructed with rigid triangle elements.To improve computational efficiency,the GPU-based parallel computational algorithm was developed for the DEM simulations.During the interaction between the ship hull and level ice,the ice cover is broken into small blocks when the interparticle stress approaches the bonding strength.The global ice resistance on the hull is calculated through the contacts between ice elements and hull elements during the navigation process.The influences of the ice thickness and navigation speed on the dynamic ice force are analyzed considering the breakage mechanism of ice cover.The Lindqvist and Riska formulas for the determination of ice resistance on ship hull are employed to validate the DEM simulation.The comparison of results of DEM,Lindqvist,and Riska formula show that the DEM result is between those the Lindqvist formula and Riska formula.Therefore the proposed DEM is an effective approach to determine the ice resistance on the ship hull.This work can be aided in the hull structure design and the navigation operation in ice-covered fields. 相似文献
8.
This study proposes a ship weather-routing algorithm based on the composite influence of multi-dynamic elements for determining the optimized ship routes. The three-dimensional modified isochrone (3DMI) method utilizing the recursive forward technique and floating grid system for the ship tracks is adopted. The great circle sailing (GCR) is considered as the reference route in the earth coordinate system. Illustrative optimized ship routes on the North Pacific Ocean have been determined and presented based on the realistic constraints, such as the presence of land boundaries, non-navigable sea, seaway influences, roll response as well as ship speed loss. The proposed calculation method is effective for optimizing results by adjusting the weighting factors in the objective functions. The merits of the proposed method can be summarized as: (1) the navigability of the route can be analyzed dynamically to acquire the optimal route; (2) adopting multi-dynamic elements as weighting factors has the benefits in energy efficiency, time-saving and minimum voyage distance; and (3) an ability to enhance speed performance and to incorporate safety concern in a dynamic environment. 相似文献
9.
Concurrent mapping and localization using sidescan sonar 总被引：1，自引：0，他引：1
Tena Ruiz I. de Raucourt S. Petillot Y. Lane D.M. 《Oceanic Engineering, IEEE Journal of》2004,29(2):442-456
This paper describes and evaluates a concurrent mapping and localization (CML) algorithm suitable for localizing an autonomous underwater vehicle. The proposed CML algorithm uses a sidescan sonar to sense the environment. The returns from the sonar are used to detect landmarks in the vehicle's vicinity. These landmarks are used, in conjunction with a vehicle model, by the CML algorithm to concurrently build an absolute map of the environment and to localize the vehicle in absolute coordinates. As the vehicle moves forward, the areas covered by a forward-look sonar overlap, whereas little or no overlap occurs when using sidescan sonar. It has been demonstrated that numerous reobservations by a forward-look sonar of the landmarks can be used to perform CML. Multipass missions, such as sets of parallel and regularly spaced linear tracks, allow a few reobservations of each landmark with sidescan sonar. An evaluation of the CML algorithm using sidescan sonar is made on this type of trajectory. The estimated trajectory provided by the CML algorithm shows significant jerks in the positions and heading brought about by the corrections that occur when a landmark is reobserved. Thus, this trajectory is not useful to mosaic the sea bed. This paper proposes the implementation of an optimal smoother on the CML solution. A forward stochastic map is used in conjunction with a backward Rauch-Tung-Striebel filter to provide the smoothed trajectory. This paper presents simulation and real results and shows that the smoothed CML solution helps to produce a more accurate navigation solution and a smooth navigation trajectory. This paper also shows that the qualitative value of the mosaics produced using CML is far superior to those that do not use it. 相似文献
10.
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
11.
Intelligent behaviour-based team UUVs cooperation and navigation in a water flow environment 总被引：1，自引：0，他引：1
This paper considers the problem of intelligent behaviour-based team unmanned underwater vehicles (UUVs) cooperation and navigation, especially in a water flow environment. Animals often have behaviour which aims to maintain them living as groups. We learn from animals’ typical group behaviour and develop behaviour-based rules for team cooperation of UUVs. We create simulation scenarios in which a team of vehicles cooperate to track a target in a water current environment. This paper customises several behaviour-based rules to satisfy the requirement of the desired scenarios. We use fuzzy logic controllers to set different priority weights for each rule on-line according to the situation that the vehicles meet. The decision of the vehicle's next step steering direction is made by the combination of these rules multiplied by the relative priority weights. The line-of-sight guidance law is modified as the navigation rule in a water flow environment. The dynamic manoeuvring model of a real small UUV, SUBZERO III, is used in the simulation. The simulation results indicate that the entire system is successful in reaching the target without any collision within the scenario. The different trajectories and travel times are compared and discussed when normal and modified line-of-sight guidance rules are applied. 相似文献
12.
13.
A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV. 相似文献
14.
A four‐antenna GPS attitude determination system was used to estimate roll, pitch, and heading parameters of a 52‐meter surveying vessel in an operational marine environment. The least squares algorithm for platform attitude estimation using multiple baseline vector observables is presented. An efficient on‐the‐fly carrier phase ambiguity searching method is derived, which utilizes the Cholesky decomposition method and the known baseline constraints between the GPS antennas to construct the potential ambiguity sets on the sphere. The accuracy of the estimated attitude parameters from the GPS multi‐antenna system was assessed with an independent inertial navigation system (INS). Results from sea trials show that the proposed GPS multi‐antenna system and processing algorithms delivered a satisfactory performance under various ship maneuvers. The accuracy of GPS estimated ship attitude parameters is better than 0.06 degrees at an output rate of 10 Hz. Such a performance demonstrates a new alternative means to provide accurate, reliable, and cost‐effective ship attitude information for hydrographic applications. 相似文献
15.
当前关于使用蚁群算法解决载人潜水器路径规划问题的研究,往往只注重路径的长度和算法收敛速度,容易忽略路径点与障碍物之间的距离和路径的平滑度等要素。载人潜水器过于靠近障碍物航行时容易产生碰撞;按照不平滑路径行驶时,频繁地转向会降低航行效率。为解决这些问题,受人工势场法启发,文中在蚁群算法的概率选择环节引入障碍物惩罚因子φ和转向惩罚因子ψ,对路径点的选择加以限制。仿真测试表明,相比于传统蚁群算法和Dijkstra算法,该算法规划的路径与障碍物之间保持安全距离且转向次数更少,因此载人潜水器按照此路径航行时,安全性和航行效率更高。 相似文献
16.
This paper presents a general approach for the development of a ship weather routing algorithm for determining optimal route which is taken here as the minimum-time route. The optimization model is based on a form of Dijkstra's algorithm. The developed algorithm is versatile and is capable of considering nearly all realistic practical constraints that a ship faces during her voyage. The ‘weight’ functions and the routes are determined by considering both involuntary and voluntary speed reduction. The algorithm is investigated using various realistic wave data for the North Indian Ocean region obtained from a 3rd generation WAM model. Illustrative examples of minimum-time sea routes on Arabian Sea and Bay-of-Bengal have been determined and presented to demonstrate the capability of the algorithm in handling many practical constraints within its framework. 相似文献
17.
The large roll motion of ships sailing in the seaway is undesirable because it may lead to the seasickness of crew and unsafety of vessels and cargoes, thus it needs to be reduced. The aim of this study is to design a rudder roll stabilization system based on Radial Basis Function Neural Network (RBFNN) control algorithm for ship advancing in the seaway only through rudder actions. In the proposed stabilization system, the course keeping controller and the roll damping controller were accomplished by utilizing modified Unscented Kalman Filter (UKF) training algorithm, and implemented in parallel to maintain the orientation and reduce roll motion simultaneously. The nonlinear mathematical model, which includes manoeuvring characteristics and wave disturbances, was adopted to analyse ship’s responses. Various sailing states and the external wave disturbances were considered to validate the performance and robustness of the proposed roll stabilizer. The results indicate that the designed control system performs better than the Back Propagation (BP) neural networks based control system and conventional Proportional-Derivative (PD) based control system in terms of reducing roll motion for ship in waves. 相似文献
18.
基于模糊神经网络理论对水下拖曳体进行深度轨迹控制 总被引：2，自引：0，他引：2
以华南理工大学开发的自主稳定可控制水下拖曳体为研究对象,首先通过水下拖曳体在拖曳水池样机中的试验取得试验数据后作为训练样本,采用LM BP算法,建立基于神经网络理论构建的可控制水下拖曳体轨迹与姿态水动力的数值模型。在此基础上设计了一个控制系统,它主要由两部分组成:基于遗传算法的神经网络辨识器和基于模拟退火改进的遗传算法的模糊神经网络控制器。以满足预先设定的拖曳体水下监测轨迹要求为控制依据,由控制系统确定为达到所要求的运动轨迹而应采用的迫沉水翼转角,以此作为输入参数,通过LM BP神经网络模型的模拟计算预报在这一操纵动作控制下的拖曳体所表现的轨迹与姿态特征。数值模拟计算结果表明:该系统的设计达到了所要求的目的;借助这一系统,可以有效地实现对拖曳体的深度轨迹控制。 相似文献
19.
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
20.
Many conventional ship autopilots use proportional integral and derivative (PID) control algorithms to guide a ship on a fixed heading (course-keeping) or a new heading (course-changing). Such systems usually have a gyrocompass as a single sensory input. Modern sea going vessels have a range of navigation aids most of which may be interconnected to form integrated systems. It is possible to employ the navigational data to provide best estimates of state vectors (Kalman filter) and optimal guidance strategies. Such techniques require powerful computing facilities, particularly if the dynamic characteristics of the vessel are changing, as may be the case in a maneuvering situation or changes in forward speed. This paper investigates the possibility of training a neural network to behave in the same manner as an optimal ship guidance system, the objective being to provide a system that can adapt its parameters so that it provides optimal performance over a range of conditions, without incurring a large computational penalty. A series of simulation studies have been undertaken to compare the performance of a trained neural network with that of the original optimal guidance system over a range of forward speeds. It is demonstrated that a single network has comparable performance to a set of optimal guidance control laws, each computed for different forward speeds 相似文献