Research On Collision Avoidance Path Planning Algorithm Of Ships In Complicated Water Areas

Ship collision.avoidance has always been a research hot-spot in the shipping industry,because in the event of collision accidents during the voyage,high-value ships and their cargo will suffer losses,and the lives of crew and passengers will be threatened,and once collision accidents cause pollution to the Marine environment,the cost is often huge.Collision avoidance path planning is a key link to ensure safe navigation of ships,soit is very important to plan collision avoidance path for ships.Collision avoidance path planning is usually divided into two parts:environmental modeling and path search.Current environmental modeling methods are generally.used for water areas with large obstacle spacing.In water areas with limited obstacle spacing(narrow water area),the path calculated by using the traditional algorithm may be a non-safe path.In addition,there are relatively few studies considering both dynamic and static obstacles in the existing studies on ship collision avoidance path planning.Aiming at the problem of ship collision avoidance path planning in narrow water area,an Improved Tangent graph Algorithm for environmental modeling was proposed,and then the Improved Tangent Line and Dijkstra Algorithm(ITLDA)was applied to solve the problem.In order to test and verify the performance of ITLDA Algorithm,we use Maklink graph for environment modeling environment,Dijkstra Algorithm for the preliminary path search,Genetic Algorithm(GA)for the path optimization of collision avoidance path planning(MDGA).The MDGA algorithm is compared with ITLDA algorithm in ship collision avoidance path planning,and the performance of ITLDA algorithm is verified.An improved artificial potential field method is designed to solve the problem of ship collision avoidance path planning in the complex waters where static obstacle zones and dynamic ships exist simultaneously.The improved potential field functions of dynamic ship and static obstacle zone are designed respectively,so that our ship can not only avoid the dynamic and static target,but also meet the requirements of the International Regulations for preventing Collisions at Sea(COLREGS)when avoiding the dynamic target ship.In order to verify the performance of the algorithm,a simulation experiment is carried out.The experimental results show that this method can make the ship avoid dynamic and static targets successfully,and its collision avoidance process conforms to rules of COLREGS.