A Study On Ship Collision Avoidance In Narrow Waterway Based On Path Planning Tracking Control

With the rapid development of international trade,the scale and speed of ships have been increasing,ships in narrow waterways are dense and frequent,and the large-scale ships and super-large ships on the voyage are more narrow and congested,the difficulty of navigation of ships is greatly increased,the risk of collision of ships is greatly increased when chasing and meeting,and collision accidents occur.In order to minimize the collision risk and accident rate of narrow waterway vessels,the research method of intelligent collision avoidance theory for narrow waterway vessels is enriched,on the basis of the theoretical study on collision avoidance of ships in narrow channel,aiming at the navigation characteristics of ships in narrow channel waters,according to the neural network planning and design of ship obstacle avoidance path,the LOS navigation algorithm and fuzzy control technology are used to realize the ship autonomous tracking hedging path,establish a mathematical model that can be operated and can be applied to the automatic collision avoidance of ships in narrow waterways to achieve self-collision avoidance,reduce the impact of human factors on ship maneuvering,ensure the navigation safety of ships in narrow waterways,and improve the intelligence of ships.The main research work in this paper includes several parts,which will be represented as bellow:1.According to the ship field model,the minimum safety encounter distance of the ship is determined.Considering the actual navigation of the narrow waterway,combined with the size of the ship and the navigable waters of the navigation channel,the neural network algorithm is used to plan the collision avoidance path.2.Aiming at the above collision avoidance path,the LOS navigation algorithm is used to realize the effective tracking of the ship's safe avoidance path,and then the fuzzy control technology is used to complete the ship's autonomous tracking of the path to achieve autonomous collision avoidance.3.The MATLAB simulation software was used to construct the ship path planning and tracking control collision avoidance simulation platform for the narrow waterway,and the three narrow waterway encounter situations(head-on situation,crossing situation and overtaking)were simulated.The results show that when the ship is evaded according to the path designed by the path planning algorithm,it can ensure that the ship and the target ship have sufficient safety to meet the distance,and can ensure that the ship and the ship wall maintain a sufficient distance,and the ship's heading changes and the speed is not large,saving time and safety.