【避碰】基于人工势场法的船舶自动避碰系统附matlab代码-优快云博客

本文链接：https://blog.youkuaiyun.com/matlab_dingdang/article/details/130191264

文章介绍了针对船舶自动避碰问题，提出了一种基于人工势场法的解决方案。该方法通过建立引力场和斥力场函数，实现船舶避碰的合力计算，并在电子海图仿真环境中进行了验证。相对于传统的实船试验和单机仿真，这种方法能更有效地模拟复杂海上航行情况。

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⛄ 内容介绍

船舶自动避碰是航海研究的热点之一,国内外专家学者提出了许多方法并开发了多种系统.然而,如何测试和验证这些方法和系统仍然是一个有待解决的问题.实船海上试验风险高费用大,同时灵活性差花费时间长;许多研究人员所采用的单机仿真试验则难以有效仿真复杂的海上航行情况.本文分析了现有船舶自动避碰系统的不足,提出了基于人工势场法的船舶自动避碰系统.根据船舶的操纵特性,建立了引力场和斥力场函数,实现船舶自动避碰航行的合力和方向,在电子海图所建立的仿真环境中,验证了人工势场法可用于船舶自动避碰系统中

⛄ 部分代码

clc

clear

close all

%% 信息

X_o = 0;

Y_o = 0;

Yt = 100;

Xt = 100;

v_o = 20;

fai_o = atan((Yt-Y_o)/(Xt-X_o));

%目标船?

% v_t_all = [10 1 1];

% fai_t_all = [270 215 215];

% X_t_all = [16 50 84];

% Y_t_all = [10 47 50];

v_t_all = [5, 5, 5];

fai_t_all = [330,150,400];

X_t_all = [32,25,60];

Y_t_all = [22,35,50];

fai_t_all = fai_t_all./180.*pi;

set = 1;

xx1=X_o;

yy1=Y_o;

yy2=Yt;

xx2=Xt;

%% 相对信息

%两船距离 R_t

%?标船的相对速度 v_tao

%?标船相对速度的?度 fai_tao

%?标船相对本船的真实?位 a_t

%?标船的相对?位 theta_t

t = 1/3600;

X = [X_o, Y_o];

Y = [X_t_all, Y_t_all];

fai = [fai_o];

am = [];

r = 0;

Rt = sqrt((Xt-X_o)^2+(Yt-Y_o)^2);

mk = 1;

mkk = [mk];

fh_temp = 0;

bp_goal = [];

dist = [];

fai_o_all = [];

while Rt > 1

mk = mk + 1;

for j = 1:length(v_t_all)

v_t = v_t_all(j);

fai_t = fai_t_all(j);

X_t = X_t_all(j);

Y_t = Y_t_all(j);

gamma_all(j) = xd_data2(X_o,X_t,Y_o,Y_t,v_o,v_t,fai_o,fai_t);

end

[~, index] = sort(gamma_all,'descend');

beta_all = 0; %转向角度

for j = index

v_t = v_t_all(j);

fai_t = fai_t_all(j);

X_t = X_t_all(j);

Y_t = Y_t_all(j);

[R_t,v_tao,fai_tao,a_t,theta_t,DCPA,TCPA,d1,d2,gamma] = xd_data(X_o,X_t,Y_o,Y_t,v_o,v_t,fai_o,fai_t);

ylabel('本船航向')

fig = figure;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%

k=1;

figure(4)

axis([xx1 xx2 yy1 yy2])

hold on

color1=[0 0.4470 0.7410;0.9290 0.6940 0.1250;0.4940 0.1840 0.5560];

num2=floor(size(X,1)/10);

plot(X(1,1),X(1,2),'.r')

plot(Y(1,1),Y(1,1+ly),'LineWidth',2,'Color',color1(1,:))

plot(Y(1,2),Y(1,2+ly),'LineWidth',2,'Color',color1(2,:))

plot(Y(1,3),Y(1,3+ly),'LineWidth',2,'Color',color1(3,:))

drawnow

for num1=10:-1:2

for j = 1:size(Y,2)/2

pause(0.05)

plot(Y(num1*num2:-1:(num1-1)*num2,j),Y(num1*num2:-1:(num1-1)*num2,j+ly),'LineWidth',2,'Color',color1(j,:))

%%%%%%%%%%%%%%%%%%%%%此处读入图像数据，将其保存在 im ??

frame = getframe;

im{k} = frame2im(frame);

k=k+1;

plot(X((12-num1)*num2:-1:((12-num1)-1)*num2,1),X((12-num1)*num2:-1:((12-num1)-1)*num2,2),'.r')

%%%%%%%%%%%%%%%%%%%%%此处读入图像数据，将其保存在 im

frame = getframe;

im{k} = frame2im(frame);

k=k+1;

end

for j = 1:size(Y,2)/2

str=['(',num2str(Y(1,j)),',',num2str(Y(1,j+ly)),')'];

text(Y(1,j),Y(1,j+ly),str);

str=['(',num2str(Y(end,j)),',',num2str(Y(end,j+ly)),')'];

text(Y(end,j)-3,Y(end,j+ly)-1,str);

end

plot(X((num1-1)*num2:-1:1,1),X((num1-1)*num2:-1:1,2),'.r')

for j = 1:size(Y,2)/2

H=plot(Y((num1-1)*num2:-1:1,j),Y((num1-1)*num2:-1:1,j+ly),'LineWidth',2,'Color',color1(j,:))

%%%%%%%%%%%%%%%%%%%%%此处读入图像数据，将其保存在 im ??

frame = getframe;

im{k} = frame2im(frame);

k=k+1;

end

V0 = 10;

L = 200/1875;

kAD = 10 ^ (0.3591*log10(V0) + 0.0952);

kDT = 10 ^ (0.5441*log10(V0) - 0.0795);

Rfore = (1 + 1.34 * sqrt(kAD^2 +(kDT/2)^2) ) * L;

Raft = (1 + 0.67 * sqrt(kAD^2 +(kDT/2)^2) ) * L;

Rstarb = (0.2 + kDT) * L;

Rport = (0.2 + 0.75*kDT) * L;

for j = size(mkk):-1:1

i = mkk(j);

for kz = 1:ly

hold on

rectangle('Position',[Y(i,kz)-0.3,Y(i,kz+ly)-0.3,0.6,0.6],'Curvature',[1,1], 'FaceColor','k')

end

syms x y

x = x - X(i,1);

y = y - X(i,2);

z = [cos(fai(i)),-sin(fai(i));sin(fai(i)),cos(fai(i))]*[x;y];

x = z(1);

y = z(2);

hold on

h = ezplot((2*y/((1+sign(y))*Rfore-(1-sign(y))*Raft))^2 + (2*x/((1+sign(x))*Rstarb-(1-sign(x))*Rport))^2==1,[-2 50 -2 50]);

legend('','来船1','来船2','来船3');

if j==size(mkk)

str=[repmat(' fai:',[size(mkk,1)-1,1]) num2str(round(fai_o_all(mkk(1:end-1))'/pi*180)) repmat(', gamma:',[size(mkk,1)-1,1]) num2str(round(real(am(mkk(1:end-1))),2))];

text(X(mkk(1:end-1),1),X(mkk(1:end-1),2),cellstr(str))

end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%此处将读入的图像写出为 GIF 详细参考 imwrite 函数

filename = '3.gif'; % Specify the output file name

for idx = 1:size(im,2)

[A,map] = rgb2ind(im{idx},256);

if idx == 1

imwrite(A,map,filename,'gif','LoopCount',Inf,'DelayTime',0.05);

else

imwrite(A,map,filename,'gif','WriteMode','append','DelayTime',0.05);

end