Research On Collision Avoidance Dynamic Path Planning And Tracking Control Of Ships

There are many ship collisions every year.If the automatic ship avoidance technology can be applied to shipping ships,maritime traffic accidents will be greatly reduced.Therefore,this paper focuses on the dynamic path planning and tracking control of ships to avoid collisions.According to the current situation of ship collision avoidance and trajectory tracking,the artificial potential field and trajectory tracking are comprehensively studied.Aiming at the local poles and oscillations in the traditional APF(Artificial potential field),the mathematical model of the artificial potential field is improved,the vector relationship between the two ships meet,the operation methods suitable for collision avoidance are summarized,and the ternary field model is quoted and combined with the circular field at the same time.The model analyzes the collision risk.In order to let the ship navigate near the planned route,this paper also studies the trajectory tracking of the route,including the correction of errors and the adaptive construction of controller parameters.Vector decomposition and sliding mode control are the main methods in this paper.The traditional artificial potential field method is improved by adding velocity factors and safe distance factors in the position direction;the method of avoidance rules is analyzed with the comprehensive model of the ternary field model and the circular field model;and the relative vector combination field model of the target and the ship is used to analyze the avoidance angle and enter the danger detection area.Define distance and calculate the radius of repulsion;deduce the transverse force of the artificial potential field repulsion through the force analysis and formal transformation of the ship control model,and obtain the corresponding relationship between steering angle and steering time;MMG(Ship Manoeuvring Mathematical Model Group)The Mathematical Model Is A Ship Control Model,Which Uses The Nonlinear Iterative Sliding Mode Controller To Correct The Track Error,And The Differential Evolutionary Algorithm Controller Is Used To Optimize The Parameter Slide Mode Controller.Through the simulation analysis of the three situations,it can be seen that the improved traditional APF method can enable ships to achieve safe and effective collision avoidance on the basis of complying with the rules of action to avoid collisions.Through the analysis of multiple static obstacles,it can be seen that the method used in this paper can overcome the shortcomings of traditional APF and enable ships to fully arrive.Purpose: The MATLAB simulation program is used to simulate three different encounter situations.The results show that the artificial potential field method can realize the independent avoidance of ships in a relatively accurate range.Differential e are tracked by using the MATLAB simulation program.The method of volution algorithm-based iterative sliding mode control(DEA-ISMA)can be simulated and verified,and it can be concluded that the stable track tracking of ships can be achieved based on this control model.Ensure that the ship sails along the planned route within100 m of error.In this paper,the research on ship collision avoidance and trajectory tracking is in line with the actual situation of ship navigation,so it has a good application prospect.Due to the low complexity of the mathematical model used in this paper,Radio detection and ranging(RADAR),Navigation equipment such as Electronic charting and display information system(ECDIS)and AIS(Automatic identification system)are also easy to combine,and the output collision avoidance information is also easy to prompt the steering gear on the ship to take rapid avoidance actions,which can make collision avoidance reaction in a very short time,which also can ensure the safety of ship navigation.The collision avoidance method studied in this paper is more practical.