基于多项式混沌展开的船舶避碰鲁棒轨迹规划

doi:10.12305/j.issn.1001-506X.2025.02.28

Abstract

Abstract:

Most of the existing ship collision avoidance trajectory planning is based on accurate motion mo-dels and environmental information, which makes it difficult to cope with various uncertain sea conditions in the actual environment and leads to a decrease in the safety and reliability of the planned trajectory. A robust trajectory planning method for ships based on polynomial chaotic expansion method is proposed to address the above issues. The hydrodynamic coefficients in the ship hydrodynamic model are considered as uncertain parameters, and the collision risk and rudder angle control variables are used as objective functions to establish the optimal control model for ship trajectory planning. Genetic algorithm is used to obtain the control variables and optimized trajectory. The experimental results show that the minimum distance and maximum encounter distance of the optimized trajectory are increased by 10%-20%, and the average collision risk is reduced by 10%. The experimental results prove that the ship trajectory considering uncertainty is more safer and reliable.

Key words: ship collision avoidance, polynomial chaotic expansion, collision risk, optimal control, genetic algorithm

CLC Number:

U675

Xinyu QI, Zhi ZHANG, Xiaobing SHANG, Yiqiong ZHANG, Lichao JIANG, Yuexin ZHOU. Robust trajectory planning for ship collision avoidance based on polynomial chaotic expansion[J]. Systems Engineering and Electronics, 2025, 47(2): 621-632.

Figures/Tables 14

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参数	均值	方差
X_u	-0.047 644	0.005
Y_v	-0.145 3	0.020
Y_r	0.366 66	0.020
N_v	-0.161 65	0.020

会遇态势	船舶	初始横坐标/m	初始纵坐标/m	初始速度/(m/s)	初始艏向/rad
对遇	本船	0	0	7	2π
对遇	来船	0	350	7	$-\frac{1}{2} \mathsf{π} $
小角度右舷交叉	本船	0	0	7	$\frac{1}{2}\mathsf{π} $
小角度右舷交叉	来船	50	210	7	$-\frac{2}{3}\mathsf{π} $
大角度右舷交叉	本船	0	0	7	$\frac{1}{2}\mathsf{π} $
大角度右舷交叉	来船	160	80	7	π
追越	本船	0	0	7	$\frac{1}{2}\mathsf{π} $
追越	来船	0	80	7	$\frac{1}{2}\mathsf{π} $

参数名称	取值
a₁	0.9
a₂	0.1
k_g	3
δ_max/rad	0.2π
Ψ_min/rad	$-\frac{1}{3}\mathsf{π} $
Ψ_max/rad	$\frac{1}{3}\mathsf{π} $

指标	方法	对遇	小角度右舷交叉	大角度右舷交叉	追越
R_Tmin/m	确定性	43.5	46.8	34.0	33.4
R_Tmin/m	鲁棒优化	77.9	72.2	37.1	42.2
DCPA_max/m	确定性	52.6	75.6	62.2	46.4
DCPA_max/m	鲁棒优化	84.9	98.1	67.3	83.9
F_CRI	确定性	0.81	0.74	0.71	0.82
F_CRI	鲁棒优化	0.52	0.51	0.61	0.70

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Robust trajectory planning for ship collision avoidance based on polynomial chaotic expansion

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