Autonomous decision-making method for ship maneuvering in complex waters of estuarine multi-class ships routeing system
In order to solve the autonomous decision-making for ship manoeuvring in complex waters of estuarine multi-class ships routeing system, key scientific issues such as digital environment, navigation rule integration, ship manoeuvrability constraints, and collision avoidance mechanism under special wa...
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EDP Sciences
2024-12-01
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| Series: | Xibei Gongye Daxue Xuebao |
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| Online Access: | https://www.jnwpu.org/articles/jnwpu/full_html/2024/06/jnwpu2024426p1047/jnwpu2024426p1047.html |
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| author | HE Yixiong ZHANG Huwei LIU Jiaorun ZHAO Xingya XIANG Shouyuan WANG Bing |
| author_facet | HE Yixiong ZHANG Huwei LIU Jiaorun ZHAO Xingya XIANG Shouyuan WANG Bing |
| author_sort | HE Yixiong |
| collection | DOAJ |
| description | In order to solve the autonomous decision-making for ship manoeuvring in complex waters of estuarine multi-class ships routeing system, key scientific issues such as digital environment, navigation rule integration, ship manoeuvrability constraints, and collision avoidance mechanism under special waters were investigated by taking the waters from the mouth of Liu River to the North Trough as an example. The requirements of analytical rules were summarized and quantified in the digital traffic environment. The collision avoidance mechanism under the constraints of ship behavioural characteristics in such waters was explored by combining the control and process prediction methods with nonlinear ship manoeuvring characteristics. Then, a feasible heading speed finding method was established, and a ship manoeuvring autonomy decision-making method under the constraints of multifactors that can dynamically adapt to the system's residual error and the target ship's random motion was proposed. Under the preset scenarios, the ship can pass safely at 0, 38, 1 184, 1 537, 2 166, 3 678, 3 808 s by altering course 4° to starboard side, decelerating, altering course 5° to starboard and decelerating, decelerating, altering course 3° to port side accelerating, altering course 3° to starboard and decelerating, decelerating, respectively. The experiments show that the present method can safely avoid the collision in the complex environment and track the course in time. |
| format | Article |
| id | doaj-art-35ca10d4650f4096bc6b0c9b2a26ba2b |
| institution | Kabale University |
| issn | 1000-2758 2609-7125 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | Xibei Gongye Daxue Xuebao |
| spelling | doaj-art-35ca10d4650f4096bc6b0c9b2a26ba2b2025-02-07T08:23:13ZzhoEDP SciencesXibei Gongye Daxue Xuebao1000-27582609-71252024-12-014261047105610.1051/jnwpu/20244261047jnwpu2024426p1047Autonomous decision-making method for ship maneuvering in complex waters of estuarine multi-class ships routeing systemHE Yixiong0ZHANG Huwei1LIU Jiaorun2ZHAO Xingya3XIANG Shouyuan4WANG Bing5School of Navigation, Wuhan University of TechnologySchool of Navigation, Wuhan University of TechnologySchool of Navigation, Wuhan University of TechnologySchool of Navigation, Wuhan University of TechnologySchool of Navigation, Wuhan University of TechnologySchool of Navigation, Wuhan University of TechnologyIn order to solve the autonomous decision-making for ship manoeuvring in complex waters of estuarine multi-class ships routeing system, key scientific issues such as digital environment, navigation rule integration, ship manoeuvrability constraints, and collision avoidance mechanism under special waters were investigated by taking the waters from the mouth of Liu River to the North Trough as an example. The requirements of analytical rules were summarized and quantified in the digital traffic environment. The collision avoidance mechanism under the constraints of ship behavioural characteristics in such waters was explored by combining the control and process prediction methods with nonlinear ship manoeuvring characteristics. Then, a feasible heading speed finding method was established, and a ship manoeuvring autonomy decision-making method under the constraints of multifactors that can dynamically adapt to the system's residual error and the target ship's random motion was proposed. Under the preset scenarios, the ship can pass safely at 0, 38, 1 184, 1 537, 2 166, 3 678, 3 808 s by altering course 4° to starboard side, decelerating, altering course 5° to starboard and decelerating, decelerating, altering course 3° to port side accelerating, altering course 3° to starboard and decelerating, decelerating, respectively. The experiments show that the present method can safely avoid the collision in the complex environment and track the course in time.https://www.jnwpu.org/articles/jnwpu/full_html/2024/06/jnwpu2024426p1047/jnwpu2024426p1047.htmlestuarine multi-class ships routeing systemdigital traffic environmentcollision avoidance mechanismautonomous decision-makingship track keeping |
| spellingShingle | HE Yixiong ZHANG Huwei LIU Jiaorun ZHAO Xingya XIANG Shouyuan WANG Bing Autonomous decision-making method for ship maneuvering in complex waters of estuarine multi-class ships routeing system Xibei Gongye Daxue Xuebao estuarine multi-class ships routeing system digital traffic environment collision avoidance mechanism autonomous decision-making ship track keeping |
| title | Autonomous decision-making method for ship maneuvering in complex waters of estuarine multi-class ships routeing system |
| title_full | Autonomous decision-making method for ship maneuvering in complex waters of estuarine multi-class ships routeing system |
| title_fullStr | Autonomous decision-making method for ship maneuvering in complex waters of estuarine multi-class ships routeing system |
| title_full_unstemmed | Autonomous decision-making method for ship maneuvering in complex waters of estuarine multi-class ships routeing system |
| title_short | Autonomous decision-making method for ship maneuvering in complex waters of estuarine multi-class ships routeing system |
| title_sort | autonomous decision making method for ship maneuvering in complex waters of estuarine multi class ships routeing system |
| topic | estuarine multi-class ships routeing system digital traffic environment collision avoidance mechanism autonomous decision-making ship track keeping |
| url | https://www.jnwpu.org/articles/jnwpu/full_html/2024/06/jnwpu2024426p1047/jnwpu2024426p1047.html |
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