A Study on Automatic Ship Collision Avoidance System in Restricted Water Areas

View Statistics Email Alert RSS Feed

Information

Details

Project title

Code/計畫編號

MOST109-2221-E019-028

Translated Name/計畫中文名

限制性水域之船舶自動避碰系統研究

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=13535075

Year

2020

Start date/計畫起

01-08-2020

Expected Completion/計畫迄

31-07-2021

Bugetid/研究經費

727千元

ResearchField/研究領域

機械工程

本研究將探討船舶於限制性水域航行時之自動避碰系統研究，由於絕大部分之船舶避碰系統均以船舶於大海航行之避碰行為進行探討，並沿用現今國際間船舶航行所遵循之國際海上避碰規則(COLREGs)係由國際海事組織(International Maritime Organization, IMO)制定，該準則於1977年7月15日即生效實施。但船舶仍會於限制性水域航行(如進出港口或河道航行)，此時由於可航行水域受限，故國際海上避碰規則就不見得能完全符合於限制性水域之避碰行為。為了進一步能將本人先期研究之船舶自動避碰系統改良使其也能符合於近岸河道或港域等環境受限之水域之船舶自主導航系統之應用。當兩船於限制性水域航行時有交會或碰撞之可能性時，利用設定之最短距離(CPA)與船舶領域概念產生新的導航避碰參考點，進而應用於限制水域之船舶自動避碰模式之應用。本研究計劃先以電腦數值模擬方式探討限制性水域之船舶運動特性以及先期研究之船舶自動避碰系統於限制性水域之船舶路徑跟隨過程中，如會遇他船時能進行自動避碰模擬測試之可行性，同時利用先期之船舶領域設定與最短距離CPA設定分析方式找出適合限制性水域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限制性水域之船舶自動避碰系統導航成效，並評估其自動避碰覆航成果。This proposal is on the development of an automatic collision avoidance system in restricted water areas which is based on my previously research on open water areas, 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) even in the restricted water areas. Due to the maneuverability of the vessel in restricted areas was limited with dynamic boundary, so the establish the ship domain, dynamic static obstacles model and ship collision risk quantification are deduced by considering the factors of bank effect, shallow bottom, wind and current. In this research work, we adopted the geographical condition, environmental condition, ship domain, CPA and TCPA with safety factor to obtain the new temporally way-point (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 in restricted water areas. In the first stage, the numerical computer simulations are conducted to evaluate the feasibility of the proposed automatic collision avoidance system in restricted area 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 in restricted water areas 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 results might provide a realistic guide to the characteristics of automatic collision avoidance system associated in restricted water areas.

Keyword(s)

導航目標點
自動駕駛系統
船舶自動避碰航系統
Way-points
Autopilot System
Automatic collision avoidance system

DSpace CRIS

A Study on Automatic Ship Collision Avoidance System in Restricted Water Areas

Details

Description