Maneuverability And Collision Avoidance Decision Optimization For Inland Waterway Ship

As an ancient and traditional transport mode, inland waterway transport has been demonstrating more and more advantages in environmental protection, sustainable development and the improvement of people's life. Yet, inland waterway transport is facing with complicated influences, with steady growth in the size, the speed, and the number of ships that navigate in the inland waterway. There has been more crowded, difficult and potentially dangerous in inland waterway. Therefore, ship maneuvering in inland waterway is more difficult and more complicated than ever. On the understanding that ship collision accidents occurred, it may lead to the economic and human life loss, irreversible losses in the surrounding environment. For this reason, how to reduce ship collision accident evocable by human misplay is exigently worth researching.The safety of navigation in inland waterway requires precise knowledge of the maneuverability of the inland waterway ship under the effect of water depth, wind and current. In Charpt 2, the effects of water depth, wind and current are taken into account on ship avoiding collision maneuvering. An enhanced maneuvering motion model for twin propellers twin rudders inland waterway ship is established. The inland waterway ship maneuvering of turning, zigzag test are simulated. Meanwhile, the maneuverability, time and angle of mining motion for avoiding collision, is simulated for inland waterway ship. Knowledge of these is essential for ship colliding avoidance maneuvering, which often choosed with estimate by the steerer. And the right colliding avoidance decision could get based on the inland waterway ship colliding avoidance maneuverability.Charpt 3 analysis the risk of ship collision with restrict of the inland waterway sea-route. Based on it, several syntheses evaluate indices for inland waterway ship collision risk is choosed. And a mathematic model for evaluat the risk of collision is estabilised.The problem on path planning of robot and aerial craft are study throughout the world. And a lot of idea and algorithm were put forward. In Charpt 4, uses for reference of these fruits, the method of ship collision avoidance decision optimization are discussed.Charpt 5, a new space model for collision avoidance, ship dynamic collision avoidance space model, is estabilised. And an enhanced algorithm, genetic annealing algorithm, is applied to trajectory optimization for collision avoidance.At last, model and algorithm put forward by this thesis are applied for inland waterway ship collision avoidance. And several simulate test are taken place for curve sea-route, bridge waterway and three fork sea-route.As a result of this study, it could offer a safe and economic trajectory for ship avoiding collision towards establishing the inland waterway ship automatic collision avoidance system. And it would promot the inland waterway transport in China.