Design And Implementation Of Embedded Ship Collision Avoidance Unit

Unmanned ship technology is currently a very high-end technology frontier,and ship navigation automation is the primary condition for unmanned ships.Ship navigation automation includes three aspects:track control automation,heading control automation and ship collision avoidance automation.Compared with the former two,the current research and application of ship collision avoidance automation is far from enough.In order to improve the safety and practicability of ship collision avoidance technology,the ship collision avoidance unit is studied in this paper.Thereby improving the safety factor of the ship's navigation.Firstly,the basic principle of ship collision avoidance is analyzed.According to the ship collision avoidance process,the functions that the collision avoidance unit should have been clarified.On the basis of studying the navigation automation system,the system structure of the ship collision avoidance unit is designed,and the hardware platform of the embedded ship collision avoidance unit is built.Secondly,the system function of the embedded ship collision avoidance unit is studied.The software structure of the embedded ship collision avoidance unit is analyzed and designed,and the collision avoidance scene display interface,man-machine operation interface,historical data storage and collision avoidance strategy interface are also analyzed.The function of the collision avoidance unit software system is divided into several functional modules such as display,operation,storage,and strategy algorithm.In the Linux environment,QT programming is used to design and implement each functional module.After being tested,the results show that the system work well,the function is correct,and the operation is intuitive and convenient.Then,two collision avoidance strategies based on particle swarm optimization are studied and tested in this paper.One is to implement the ship collision avoidance strategy through path planning.The test results show that the strategy can better achieve collision avoidance of ships,but it can not solve the emergencies in collision avoidance.The second collision avoidance strategy is to apply the particle swarm optimization algorithm to the direct calculation of the ship collision avoidance steering angle,and dynamically calculate the collision avoidance strategy of the ship.The test results show that the strategy not only can better achieve ship collision avoidance but also can effectively deal with emergencies in collision avoidance.In summary,the correctness and reliability of the collision avoidance unit is verified by the designed collision avoidance strategy test on the one hand,and verified by the effectiveness of the collision avoidance strategy on the other hand.The embedded avoidance collision unit has a relatively complete function,which improves the safety and practicability of the ship collision avoidance technology to a certain extent and meets the requirements of predesign.