Automatic Ship Collision Avoidance System by Using Ship Domain and Guidance Concept

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Project title

Code/計畫編號

MOST107-2221-E019-021

Translated Name/計畫中文名

結合船舶領域與導航法之船舶自動避碰系統開發研究

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=12672938

Year

2018

Start date/計畫起

01-08-2018

Expected Completion/計畫迄

31-07-2019

Bugetid/研究經費

495千元

ResearchField/研究領域

機械工程

「船舶領域」可說是航海人員為了安全而希望保持船舶周遭淨空的安全區域範圍。本研究將以船舶領域(Ship Domain)為船舶航行安全考量因子進行船舶自動避碰系統之研究發展與驗證工作。研究中發現單使用最短距離(CPA)與最短會遇時間(TCPA)條件作為船舶避碰之考量過於簡化，可能造成船舶避碰過程中發生所謂船舶之近距離避開(Near-miss)現象屬於相對危險。而研究中平行修正導航法(PC)及適應性平行修正導航法(APC)在運算時均會產生暫時性之導航目標點，故擬用此特性，將船舶領域安全模式導入結合船舶避讓之必要條件最短距離(CPA)與最短會遇時間(TCPA)條件當成船舶避碰條件之判斷式。當兩船之船舶領域有交會之可能性時，利用設定之最短距離(CPA)產生新的導航避碰參考點，進而應用於船舶自動避碰模式及船舶覆歸之導航應用。本研究計劃先以電腦數值模擬方式探討船舶領域及導航法組合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，同時利用船舶領域設定與最短距離CPA之設定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船舶領域結合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。Ship safety domain is an important term which is widely adopted in research on vessel collision avoidance and traffic engineering among others. Ship domain is a conceptual area around a vessel where the mariner wants to keep clear of other vessels and obstructions to maintain safe area and comfortable. This proposal is on the development of an automatic collision avoidance system which is based on ship domain and 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. But if we put ship domain, CPA and TCPA into safety evaluation comparison, the ship domain has more safety margin than which just only used CPA and TCPA. It will also cause the “Near-miss” situation when only adopted the CPA and TCPA into account during collision avoidance process. In this research work, we adopted the ship domain, CPA and TCPA with safety factor to obtain the new temporally 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. 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.This proposal intends to examine the performance of the two kinds of ship domain (Fujii and Goodwin models) with two types of guidance methods (Parallel Correction and Adaptive Parallel Correction). 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 with ship domain, 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.Specifically, the performance of different ship domain models and guidance methods working with same automatic collision avoidance system will be compared in terms of safety margin, closest distance, guiding performance, 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)

船舶領域
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
Ship Domain
Parallel Correction
Adaptive Parallel Correction
Automatic collision avoidance system

DSpace CRIS

Automatic Ship Collision Avoidance System by Using Ship Domain and Guidance Concept

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