Study and Simulation on Intelligent Multi-Ship Collision Avoidance Strategy

Multi-ship collision avoidance is one of the difficulties in automatic ship collision avoidance. Based on analysis about multi-ship collision risk degree, the multi-ship collision avoidance strategy of “circulatory avoidance for dangerous ships” is proposed in this paper. Firstly, this strategy optimizes the flipping direction of bacteria in bacterial foraging optimization algorithm (BFA) chemotaxis operation via particle swarm optimization, which has enhanced convergence rate of the strategy. Meanwhile, in the process of copy operation, the fitting curve of objective function values of bacteria is formed, based on the mean value and variance, quality of the bacteria is analyzed. Moreover, by combining with the objective function value after the last chemotaxis operation, a joint judgment is made for bacteria used for copy operation to improve search precision of the strategy. Secondly, by setting the shortest collision avoidance path of our ship as the objective function, optimization parameters like opportunity of each collision avoidance action, collision avoidance scheme and steering angle are obtained, in this way, the execution efficiency of collision avoidance under multi-ship encounter is increased. Finally, effectiveness and feasibility of the multi-ship collision avoidance strategy are verified by simulating the dynamic collision avoidance process under multi-ship encounter.