The invention further provides an unmanned ship collision avoidance method and device based on the DBSCAN algorithm, and the method comprises the following steps: 1, collecting ship data, and training a six-degree-of-freedom ship motion model through a neural network; step 2, acquiring a wind speed by using a wind speed sensor, and acquiring ocean current information by using an ocean current sensor; step 3, acquiring speed and position information of other ships by using AIS/radar; step 4, collecting ship captain driving information, establishing a ship driving model, and predicting the future motion state of the ship; 5, performing risk analysis on other ships by using a DBSCAN algorithm, and calculating ship collision risks; step 6, according to the step 5, performing corresponding collision avoidance behaviors aiming at the risk; and 7, judging an action execution condition, and returning a reward value and a result. According to the technical scheme, the collision avoidance capability of the unmanned ship can be improved, the generalization capability is good, and the efficiency of collision avoidance and safe navigation of the unmanned ship on the water surface is improved on the whole.
本发明还提供了一种基于DBSCAN算法的无人船避碰方法及装置,包括以下步骤:步骤1:采集船舶数据,利用神经网络训练六自由度船舶运动模型;步骤2:利用风速传感器获取风速,利用海流传感器获取海流信息;步骤3:利用AIS/雷达获取其他船速度以及位置信息;步骤4:收集船长驾驶信息,建立船舶驾驶模型,对船舶未来运动状态进行预测;步骤5:利用DBSCAN算法对他船进行风险分析,计算船舶碰撞风险;步骤6:根据步骤5,针对风险进行相应的避碰行为;步骤7:判断动作执行情况,返回奖励值与结果。应用本技术方案可提升无人船的避碰能力,且有良好的泛化能力,总体提高无人船在水面避碰安全航行的效率。
Unmanned ship collision avoidance method and device based on DBSCAN algorithm
一种基于DBSCAN算法的无人船避碰方法及装置
2025-04-04
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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