Wuhan University of Technology, School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan, China; Wuhan University of Technology, School of Navigation, Wuhan, China.
Wuhan University of Technology, School of Navigation, Wuhan, China.
ISA Trans. 2023 Apr;135:52-65. doi: 10.1016/j.isatra.2022.10.010. Epub 2022 Oct 23.
Collision avoidance is a priority task for ensuring the safety of a maritime transportation system. However, for a ship towing system, which is characterized by multiple vessels and physical connections, the research works about collision avoidance is limited. Thus, this paper proposes a speed and heading control-based conflict resolution of a ship towing system for collision avoidance. Two systems compose the core of the proposed conflict resolution: the risk assessment system and the coordination control system. The risk assessment is to identify the conflict and determine the time of avoiding action by calculating the index of conflict and the available maneuvering margin. The coordination control is based on the model predictive control (MPC) strategy to cooperatively control two tugboats for regulating the position, heading, and speed of the manipulated ship. Simulation experiments show that according to the index of conflict, the time cost, and the fuel consumption, a selected operation of combined heading and speed can be recommended for a ship towing system to provide a safer and more efficient towage manipulation.
避碰是确保海上运输系统安全的首要任务。然而，对于船舶拖带系统，由于其具有多艘船舶和物理连接的特点，关于避碰的研究工作有限。因此，本文提出了一种基于速度和航向控制的船舶拖带系统避碰冲突解决方法。所提出的冲突解决方法的核心由两个系统组成：风险评估系统和协调控制系统。风险评估是通过计算冲突指标和可用操纵裕度来识别冲突并确定避碰行动的时间。协调控制基于模型预测控制（MPC）策略，对两艘拖轮进行协同控制，以调节被操纵船舶的位置、航向和速度。仿真实验表明，根据冲突指标、时间成本和燃料消耗，可为船舶拖带系统推荐选择组合航向和速度的操作，从而提供更安全、更高效的拖带操作。
