基于克隆选择优化的多船转向避碰决策

摘要

基于船舶碰撞危险度计算模型,在多船会遇态势下,利用克隆选择优化算法,本文提出一种最优转向避碰幅度计算方法.确定了最近会遇距离(DCPA)、最近会遇时间(TCPA)、两船距离、相对方位、船速比5个主要因素的隶属度函数,并考虑航行区域状况、能见度情况和船舶的操纵性能等对船舶碰撞危险度的隶属度函数修正.基于船舶碰撞危险度和航程损失的多目标函数优化,通过分克隆选择优化算法,在《国际海上避碰规则》约束的可行域空间内,获取全局范围内的最优解.仿真结果表明克隆选择优化算法对于处理多船会遇态势下的让路船转向避碰决策的有效性.%In this paper, a calculation method of optimal course alteration for collision avoidance based on the model of ship collision risk index is proposed by clone selection algorithm in multi-ship encounter situation. Membership functions of five main factors such as distance of closest point of approach (DCPA), time to the closest point of approach (TCPA),dis-tance between ships, relative bearing and speed ratio are determined in the consideration of correction to navigationalsur-roundings, visibility and maneuverability etc. The multi-objective function optimization based on the collision risk index and loss of voyage has completely achieved the optimal solution within the feasible region constrained in the InternationalRegu-lations for Preventing Collisions at sea by means of clone selection algorithm. The results prove the validity and efficiency of composite evaluation.