Research On Interacting Collision Avoidance Method Of Multi-Model Ships In Maritime Mixed Traffic Scenarios

With the continuous breakthrough of the key technologies of unmanned ships,in recent years,more and more countries have begun to implement the autonomous ship project,and started to carry out the test of autonomous navigation of real ships at sea.In the future,it is an inevitable trend that unmanned ships will be put into actual production activities,but this does not mean that traditional manned ships will be directly replaced.In the future,there will be a mixed maritime traffic scenarios in which traditional manned ships and unmanned ships with different degrees of autonomy coexist.At that time,ships sailing on the sea have multi-model characteristics.When these ships with different control modes and degrees of autonomy meet at sea,information exchange,communication and coordination cannot be carried out through conventional methods.There are new risks to the safe navigation of ships at sea.In this thesis,the interaction model of ship collision avoidance information is designed to solve the problem of information interaction between multi-mode ships,and then the interactive and cooperative mechanism of ship collision avoidance decision is proposed based on the game method,so as to realize the group collaborative collision avoidance under the maritime mixed traffic scenario.In this thesis,the multi-model ship encounter scenario under the maritime mixed traffic scenario is modeled,the collision avoidance problem that may occur under the multi-model ship encounter scenario is analyzed,and the interaction based multi-model ship coordination collision avoidance architecture is studied.Secondly,by analyzing the process of protocol collision avoidance,a ship collision avoidance information representation model is proposed,and the timing,target and information type of information interaction are determined to solve the problem that multi-model ships cannot negotiate through conventional communication methods.Thirdly,a collision avoidance decision game model is constructed,which defines the collision avoidance negotiation process between multi-model ships as a non-cooperative complete information static game process.The complex negotiation process is replaced by the local self-game of ships,and the consensus of collision avoidance is replaced by solving Nash equilibrium method.Then,based on the above research,an interactive and cooperative mechanism for ship collision avoidance decision-making is proposed,which can achieve the effect of group cooperation through a few times of information interaction.Finally,three sets of simulation experiments are designed to simulate the multi-ship meeting scenarios,which proves the effectiveness of the method.The research results of this thesis can solve the problem of collision avoidance that may occur between multi-mode ships,when the initial decision of ships leads to collision avoidance conflicts,the interactive and collaborative mechanism of collision avoidance decision of ships can promote the consensus of collision avoidance between ships within a limited time,ensuring the safety of collision avoidance in the case of uncoordinated initial decision of ships,and provide a feasible scheme for realizing collaborative collision avoidance between ships in mixed maritime traffic scenarios.