【摘要】 为尽可能在无人艇避碰规划时兼顾《国际海上避碰规则公约》,提出对障碍船进行符合《公约》的偏心膨胀,对偏心膨胀建立统一的运动模型.为实现宽阔水域的水面无人艇多船障碍智能避碰,提出基于避障紧迫程度、安全性预测以及调整可行性的模糊规划方法.对同时具有对遇、交叉及追越情况的多个复杂运动障碍进行避碰规划仿真,结果证明了该方法的智能性.更多还原

【Abstract】 To take the Convention on the International Regulations for Preventing Collisions at Sea( COLREGS) into account in planning for obstacle avoidance of unmanned surface vehicle( USV),this paper presented the rule of eccentric expansion accord with COLREGS. To reduce the ship collision occurrence and achieve multi-ship collision avoidance in broad areas,a fuzzy programming method based on urgency,security and feasibility of planning was put forward. Example simulation consists of multi-ship including different collision situation,which shows the intelligence of the proposed method.更多还原