Research On Multi-ship Collision Avoidance Decision-making System On Sea

Some significant maritime affairs occurrence in the near future indicate that human error is still the leading factor. Therefore, to reduce the occurrence of the maritime affairs, raise the navigation security level, enhance the security and the reliability of the automation navigation at sea, relieve driver's labor intensity and the psychological burden, and avoid the ships collision,striking reef and other accident occurrence at sea, the thorough research of the new ideas and the new methods of the ships decision-making system on ships collision avoidance, still has the extremely important practical significance.To solve the problem of decision-making on ships collision avoidance when multi-ship encounter,â‘ on the basis of the ships collision risk index identified,â‘¡the forecast of the target ship is studied in this paper: Kalman filter technology is used to do on-line estimate about the motion state of target, and the target data are obtained from radar detection equipment in every sampling instant, and momentarily forecasts the DCPA and TCPA. The method can not only restrain noise disturbance effectively, but also achieve the aim such as forecast situation of target ship ahead of time, helping the driver to prepare for avoiding collision ahead and lash-up measure et.;â‘¢The collision avoidance method for main target ship is studied: Gray relational decision-making is applied to the optional selection for target ship. Calculate DCPA,TCPA and K according to the mathematical model, regard DCPA,TCPA, K as the components of centralism components, use gray relational decision-making to do the overall evaluation and determine the optional selection for main target ship;â‘£turning angle is studied: during the course of decision-making in the ship collision avoidance problem, turning angle is the most frequently adopted. To get the optimization magnitude of collision avoidance turning when the boat encounters with multiple ships at sea, SA,PSO,SAPSO are used to treat the problem as optimization of multi-target function, so as to find out the very value which best satisfies the function and restricting condition in the feasible value space. The method is beneficial not only to the ship's solution of optimization magnitude of collision avoidance turning for the situations of multi-ship encountering with each other but also to the intelligent design and development of ship avoiding-bump decision-making system. The simulation results indicate that a series of ideas and algorithms presented by this paper, have some practical values and feasibilities.