基于改进模糊评价法的无人艇碰撞风险计算

doi:10.12305/j.issn.1001-506X.2024.03.29

Abstract

Abstract:

An improved fuzzy evaluation method for collision risk index calculation of unmanned surface vessel (USV) is proposed to solve the problems that traditional fuzzy evaluation models are mostly only applicable to long-range scenarios when used for ship risk assessment and the lack of consideration of International Regulations for Collision Avoidance at Sea (COLREGs). The method uses a quaternion ship domain to determine the safe distance in the model and clarifies the collision threat distance in the model through the action domain model. At the same time, whether two vessels form an immediate danger situation is introduced into the calculation of the collision risk index. The experimental results show that the improved method can be applied to the collision risk index calculation of USV in close waters. It also meets the requirements of the COLREGs and the actual situation of navigational collision avoidance.

Key words: collision risk index, fuzzy evaluation, unmanned surface vessel (USV), ship domain, arena

CLC Number:

U675.96

Guixiang ZHAO, Chenxu WANG, Jian ZHOU, Yunmiao LI. Collision risk calculation of unmanned surface vehicle based on improved fuzzy evaluation method[J]. Systems Engineering and Electronics, 2024, 46(3): 1031-1037.

Figures/Tables 9

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References 24

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参数	取值
船长/m	3.2
船宽/m	2.2
总重/kg	130.0
进距Adv_o/m	16.5

船型	位置/m	航速/(m/s)	航向/(°)	真方位/(°)
目标1	(200, 180)	5	270	48.01
目标2	(1 000, 800)	5	300	51.34
目标3	(-100, 160)	8	090	328.00
目标4	(-900, 1 200)	8	080	323.13
目标5	(-120, 90)	6	090	306.87

船型	DCPA/m	TCPA/t	距离/m
目标1	-14.14	38.00	269.07
目标2	192.82	253.21	1 280.62
目标3	-82.70	17.98	188.68
目标4	-707.21	152.64	1 500.00
目标5	7.59	19.18	150.00

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Collision risk calculation of unmanned surface vehicle based on improved fuzzy evaluation method

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