Design and Verification Study of Ship Collision Avoidance System Based on Guidance Scheme

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Project title

Code/計畫編號

MOST106-2221-E019-042

Translated Name/計畫中文名

以導航法為基礎之船舶自動避碰系統研究發展與驗證

Project Coordinator/計畫主持人

Sin-Der Lee

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Transportation Science

Website

https://www.grb.gov.tw/search/planDetail?id=12227976

Year

2017

Start date/計畫起

01-08-2017

Expected Completion/計畫迄

31-07-2018

Bugetid/研究經費

646千元

ResearchField/研究領域

機械工程

"本研究將以導航法為基礎進行船舶自動避碰系統之研究發展與驗證工作。研究中發現平行修正導航法(PC)、動態圓導航法(DLOS)以及適應性平行修正導航法(APC)等三類型之導航法在運用時均導航法均會重新計算暫時性之導航目標點，吾人可善用此一特性，並將船舶避讓之必要條件如最短距離(CPA)與最短會遇時間(TCPA)條件引入當成避碰條件之判斷式，當上述條件與他船之避碰必要條件達成前(亦即預留安全計算與船舶改道導航時間)產生新的導航避碰參考點，進而利用於船舶自動避碰模式及船舶覆歸返航行模式之導航應用。利用所設定之船避碰最短距離CPA 乘上安全係數(m)所形成之範圍，再搭配最短會遇時間TCPA(time)之安全係數(n)所形成之本船前進此時間所形成之距離圈交會點B’點，利用此交會點進行船舶自動避碰及覆歸之導航點，來完成以導航法為基礎之船舶自動避碰系統之研究。本研究計劃先以電腦數值模擬方式探討此以導航法為基礎之船舶自動避碰系統於船舶路徑跟隨過程中，如會遇他船進行自動避碰模擬測試之可行性，同時利用安全係數分析方式找出較佳之船舶避碰行為並完成覆歸航線之任務。隨後再運用船舶操縱模擬設備驗證此導航法為基礎之船舶自動避碰系統導航成效，並評估環境外力干擾下之自動避碰覆航之成果。""This proposal is on the development of an automatic collision avoidance system which is based on guidance schemes. The collision avoidance system for autonomous ship aims at not only deriving a reasonable and safe path to the goal but also keeping COLREGs (International Regulations for Preventing Collisions at Sea). Normally, the closest point of approach (CPA) and time to the closest point of approach (TCPA) are both played as the key elements in ship collision avoidance system. In this research work, we adopted the CPA and TCPA with safety factor to obtain the new waypoint (called as point B’) which can be guided the vessel with collision avoidance and it also can be leaded the vessel back to its original path. The vessel path following maneuver mission can be done by adopted the appropriate guidance method and waypoints setting. During my previously studies with parallel correction (PC) guidance method and adaptive parallel correction method (APC), that we found that guidance schemes with capability to deal with the environmental disturbance. In this study, we adopted the m*CPA (safety distance) and n*TCPA (safety time) with the original path. And try to find out the feasibility new waypoint for vessel collision avoidance. Different types of guidance methods will be examined with the autopilot system for the marine vessel path following maneuver by adding the new waypoint B’ into the original path. This new waypoint will guide the vessel not only to complete the collision avoidance mission but also to bring the vessel back to its original path. In the first stage, the numerical computer simulations are conducted to evaluate the feasibility of the proposed automatic collision avoidance system and tried to figure out the appropriate safety factors of CPA and TCPA. The next stage, the feasibility of the automatic collision avoidance system will be verified by performing a series of path following maneuvers with targets vessel with different encounter situation by using ship handling simulator-based experiments under strong environmental disturbance condition. The proposal intends to examine the performance of the four types of guidance methods (LOS, Dynamic Circle LOS, Parallel Correction and Adaptive Parallel Correction). Specifically, the performance of different guidance methods working with same automatic collision avoidance system will be compared in terms of guiding performance, cross track error, rudder activity, heading deviation and the rate of convergence of the vessel toward the new desired path during the path following maneuver. The results might provide a realistic guide to the characteristics of automatic collision avoidance system associated with different guidance methods."

Keyword(s)

視線導航法
動態圓視線導航法
平行修正導航法
適應性平行修正導航法
船舶自動避碰航系統
Line-of-Sight
Dynamic Circle LOS
Parallel Correction
Adaptive Parallel Correction
Automatic collision avoidance system

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Design and Verification Study of Ship Collision Avoidance System Based on Guidance Scheme

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