TY -的A2 Dolezel切赫AU -郑Yisong盟——张Xiuguo盟商,夺得AU -郭,思玉盟- Du,听泉PY - 2021 DA - 2021/01/15 TI -船舶避碰决策方法基于改进文化粒子群SP - 8898507六世- 2021 AB -船舶避碰的决策过程中,转向避碰是最常采取避碰方法。为了获得一个有效的、合理的转向角,提出了一种船舶避碰决策方法基于改进文化粒子群。首先,船舶操舵角方向还有待确定。在这个阶段,卡尔曼滤波器是用来预测船的轨迹。根据预测参数,计算船舶碰撞风险指数和最危险的船是判断的情况。然后,这艘船的转向角方向是由考虑到国际海上避碰规则公约(COLREGs)。其次,计算船舶操舵角。在这个阶段,文化粒子群优化算法通过引入指数人口过早收敛程度自适应地调整文化的惯性权重粒子群,避免算法陷入早熟收敛状态。改进的文化粒子群优化算法用于查找最佳的转向角范围内的转向角方向。与其他进化算法相比,改进的文化粒子群优化算法具有更好的全局收敛性。 The convergence speed and stability are also significantly improved. Thirdly, the ship steering angle direction decision method in the first stage and the ship steering angle decision method in the second stage are integrated into the electronic chart platform to verify the effectiveness of the decision-making method of ship collision avoidance presented in this paper. Results show that the proposed approach can automatically realize collision avoidance from all other ships and it has an important practical application value. SN - 0197-6729 UR - https://doi.org/10.1155/2021/8898507 DO - 10.1155/2021/8898507 JF - Journal of Advanced Transportation PB - Hindawi KW - ER -