CAJ | 학술논문

多船避碰在船舶的导航与控制领域是一个非常困难的问题，传统的几何避碰方法较难处理这类问题。文中采用最优控制方法，从船舶的运动方程出发，由避碰的实现过程设计目标函数，采用广义梯度方法求解。仿真实验结果显示，在静水面情况下，该方法能得到较好的避碰效果。
다선피팽재선박적도항여공제영역시일개비상곤난적문제，전통적궤하피팽방법교난처리저류문제。문중채용최우공제방법，종선박적운동방정출발，유피팽적실현과정설계목표함수，채용엄의제도방법구해。방진실험결과현시，재정수면정황하，해방법능득도교호적피팽효과。
Multi-ships collision avoidance in the field of ship navigation and control is a very difficult problem,the traditional geometrical method for collision avoidance is difficult to deal with this kind of problem.In this paper,using the optimal control method and starting from the equation of motion of the ship,the objective function was designed depend on implementation process of collision avoidance, finally getting the solution uses the generalized gradient method.The simulation results showed that under the condition of calm water surface,this method can get better effects of collision avoidance.