Research On Ship Collision Avoidance In Restricted Waters Based On Artificial Fish Swarm Algorithm

With the development of economic globalization,which makes the transportation industry increasingly prosperous,which has increased the demand for ships in the shipping industry,leading to an increase in the density of ships on the shipping route,and increasing the possibility of accidents between ships.Therefore,uses irregular graphics processing for static obstacles,increases the navigation water area,reduces the voyage,and the navigation regulations are integrated with the improved artificial fish swarm algorithm to solve the problem that the collision avoidance path does not conform to the navigation regulations.The research content of this paper is as follows.Firstly,in the iterative process,the field of visual and step size of the standard artificial fish swarm algorithm is unchanged,which makes its local search ability poor and may also lead to oscillation.In this paper,adaptive adjustment of field of visual and step length,along with the advancement of iteration,reduce the value of visual and step.Namely in the early stage of the algorithm to start,choose a larger value for the field of visual and step length,can make artificial fish in rough search within the solution space,to ensure the algorithm,the initial stage of the global search ability and convergence speed is fast;Through constant iteration,the visual and step size of the algorithm are gradually reduced,which can make it search around the optimal solution in detail so that the ability of the algorithm to find the optimal solution in the local scope is gradually enhanced and the results of searching for the optimal solution are improved.Secondly,comprehensive existing static obstacle collision avoidance in restricted waters,the study found the process of static obstacles mainly use rules of round,but,considering the complexity of the real-life environment in restricted waters for ship surface width is narrower,ship maneuvering is restrained,if treated with circular obstacles,especially for narrow obstacle,could lose large navigable waters,so this article in view of the irregular obstacles for convex,surrounded with the graphics of irregular obstacles,can reduce the obstacles in using circular processing simulation verified occupation of navigable water area,on the ship steering Angle and the path length are improved.Finally,according to the International Regulations for Preventing Collisions at Sea(hereinafter referred to as the Regulations),the meeting situation of ships is divided and integrated into the algorithm,that is,after judging the collision avoidance responsibility of ships,the discordant turning points in the algorithm population are transformed into the symmetric points of the line where the ship is heading.Designed simulation scenarios for different encounter situations,using MATLAB to simulate overtake,cross,to meet the situation,make way for the ship in violation of the regulations and multi-ship encounters,the results show the path of the income after the ship in the calling method can effectively avoid collisions,and at the same time when the ship has a responsibility to avoid calling algorithm path meets the requirement of navigation regulations.