Simulation research on ship automatic collision avoidance

The ship navigation characteristics in restricted waters are considered and the current problems and deficiencies in this field are analyzed.the ship automatic collision avoidance system which can help ship maneuvering is studied.On the foundation of ship collision avoidance factors,the plan of ship path and the solution to the ship collision avoidance problems in restricted waters are introduced with artificial potential field method.The limitations of artificial potential field method are optimized though providing the concept of turning points.The reasons and principles of setting them are proposed to improve algorithm of ship avoidance path planning in confined waters.The cases of ship auto-navigation in Yangtze River entrance are conducted with Matlab program,on the foundation of mathematical model of ship movement.The differences between the navigation path before and after setting turning point are compared in restricted waters,and results of the experiments after adding the turning point are analyzed.Simulation results indicate that ships can avoid all the obstacles in restricted waters safely without crash,and find optimal path.