【摘要】 在速度障碍理论的基础上建立基于本船船舶领域的相对速度障碍求解方法，该方法可以基于时间序列不断更新计算本船的速度障碍区间和可行改向区间。同时，对于一些特殊障碍物（海上钻井平台、船队等）可将其视为多边形、条形、圆形障碍物进行计算。基于此方法，在当前局面下，本船通过识别与目标船的会遇态势以及与特殊障碍物之间的相对位置关系，计算出既满足良好船艺要求又能避让所有目标的改向角。在改向完成后通过复航模型计算出最早复航时间恢复原航向航行。模拟仿真实验表明，该方法满足开阔水域避碰行动的要求。更多还原

【Abstract】 Based on the velocityobstacle theory, a method to solve the relative speed barrier based on the ship domain is established. The method can continuously update the speed barrier interval and feasible direction change interval of the ship based on time series. At the same time, some special obstacles(offshore drilling platform, fleet, etc.) can be regarded as polygon, strip, circular obstacles to calculate. Based on this method, in the current situation, by identifying the situation of the ship’s encounter with the target ship and the relative position between the ship and the special obstacles, the ship can calculate the Angle of change which not only meets the requirements of good seamanship but also can avoid all the targets. After the completion of the change of course, the earliest resumption time is calculated by the resumption model to resume the original course. Simulation results show that the method meets the requirements of collision avoidance in open water.更多还原