Ship Collision Avoidance Path Planning by PSO Based on Maneuvering Equation

摘要

Ship collision avoidance can be transferred to multi-objective constrained optimization problem, when maneuvering equations and ship motion information are known. Given the ship maneuvering equations and related parameters, this paper set collision avoidance criterion function according to the specific requirements, then obtain the numerical optimization of this function by rotate surface transformation particle swarm optimization algorithm, to get the best path of ship collision and decisions of corresponding rudder and bell operating.