文档介绍：第44卷第3期 舰船科学技术 Vol. 44, No. 3
llision risk, the fuzzy neural network is used to intelli­
gently control the ship navigation direction to complete the intelligent obstacle avoidance. Experiments show that this meth­
od can accurately sense the nearby information and realize intelligent obstacle avoidance in both simple and complex track
environments; The distance between the ship and nearby ships is higher than the safe distance, and the change curve of ship
heading angle is stable without jitter, so as to ensure the safety of ship navigation.
Key words: network awareness information; ship track planning; intelligent obstacle avoidance; the sensor; Risk
model; fuzzy neural network
o引言 避让行动，确保本船与附近船舶在安全距离以外航行,
但该方法虽具备较优的实时性，较好的处理船舶避让
智能避障方法可合理规划船舶航迹，精准避障其
时的模糊信息，但不存在自适应学****性能，无法在动
余船舶，避免出现碰撞危险叫 罗贤程等何通过模糊综
合评价法获取船舶碰撞危险度，按照不同危险度，确 态环境时，实现船舶避让行动。刘忠等a通过在人工
定船舶的避让行动，通过动态分阶势场，建立船舶航 势场法内添加斥力函数，制定船舶避障策略，实现船
行环境模型，并获取船舶航行指令，按照航行指令控 舶避障，解决船舶避障过程中引力较大问题，结