Collision avoidance dynamic support model for ships meeting at a close range

Abstract

To assist the crew in quickly deciding a reasonable collision avoidance strategy, a collision avoidance dynamic support model for ships meeting at close range is proposed in this study by combining the mathematical model and control algorithm of ship maneuvering motion, as well as the dynamic collision avoidance parameter mathematical model. First, a 3-degree-of-freedom maneuvering modeling group (MMG) model with high precision is selected to describe the maneuvering kinetic characteristics of a ship in the process of collision avoidance. Then, the MMG model is transformed into the ship maneuvering motion control system in non-affine pure-feedback form. Meanwhile, a simple and advanced direct adaptive control algorithm is developed based on the backstepping control design method, implicit function theorem, mean value theorem, neural network, and dynamic surface control technique. Moreover, an accurate and proper dynamic collision avoidance parameter mathematical model is constructed based on the characteristics of the MMG model. Finally, two ships meeting at close range and in the crossing situation are used to simulate collision avoidance. The results show that the proposed model can accurately describe the maneuvering motion trajectory of ships in the process of collision avoidance, calculate practical collision avoidance parameters, and provide support for effective ship action to collision avoidance.