为了解决传统模糊评价模型在船舶风险评估中多仅适用远距离场景,以及缺乏考虑《国际海上避碰规则》(International Regulations for Collision Avoidance at Sea,COLREGs)等问题,提出一种改进的模糊评价法,用于计算水面无人艇(unmanned surface vessel,USV)的碰撞危险度.该方法采用四元船舶领域确定模型中的安全距离,并通过行动域模型明确模型中碰撞威胁距离.同时,将两船是否构成紧迫危险局面引入到碰撞危险度的计算中.实验结果表明,改进后的方法能够适用于近距离水域的USV碰撞危险度计算,同时满足COLREGs的要求和航海避碰实际情况.
An improved fuzzy evaluation method for collision risk index calculation of unmanned surface vessel(USV)is proposed to solve the problems that traditional fuzzy evaluation models are mostly only applicable to long-range scenarios when used for ship risk assessment and the lack of consideration of International Regulations for Collision Avoidance at Sea(COLREGs).The method uses a quaternion ship domain to determine the safe distance in the model and clarifies the collision threat distance in the model through the action domain model.At the same time,whether two vessels form an immediate danger situation is introduced into the calculation of the collision risk index.The experimental results show that the improved method can be applied to the collision risk index calculation of USV in close waters.It also meets the requirements of the COLREGs and the actual situation of navigational collision avoidance.