限制性水域之船舶自動避碰系統研究

A STUDY ON AUTOMATIC COLLISION AVOIDANCE SYSTEM FOR SHIP IN RESTRICTED WATER AREAS

本研究將探討船舶於限制性水域航行時之自動避碰系統研究，由於絕大部分之船舶避碰系統均以船舶於大海航行之避碰行為進行探討，並沿用現今國際間船舶航行所遵循之國際海上避碰規則（COLREGs），其係由國際海事組織（International Maritime Organization, IMO）制定，該準則於1977年7月15日即生效實施，該法規主要以大洋航行為主。但一般船舶仍會於限制性水域航行（如進出港口或河道航行），此時由於可航行水域受限，故國際海上避碰規則就不見得能完全符合於限制性水域之避碰行為。當兩船於限制性水域航行時有交會或碰撞之可能性時，利用設定之最短距離（CPA）與船舶領域概念產生新的導引避碰參考點，進而應用於限制水域之船舶自動避碰模式之應用。為了進一步能將先期研究之船舶自動避碰系統改良使其也能符合於近岸河道或港域等環境受限水域之船舶自主導航系統應用，本研究計劃先以電腦數值模擬方式探討限制性水域之船舶運動特性以及先期研究之船舶自動避碰系統於限制性水域之船舶路徑跟隨過程中，如會遇他船時能自動進行船舶避碰之可行性測試，同時利用先期研究之船舶安全範圍設定及最短距離CPA設定分析方式找出適合限制性水域之船舶避碰行為並完成覆歸航線之任務。隨後再運用船舶操縱模擬設備驗證此限制性水域之船舶自動避碰系統導航成效，並評估其自動避碰覆航成果。

This proposal is on the development of an automatic collision avoidance system in restricted water areas which is based on my previously research on open water areas, ship domain and guidance schemes. The collision avoidance system for autonomous ship aims at not only deriving a reasonable and safe path to the goal but also keeping COLREGs (International Regulations for Preventing Collisions at Sea) even in the restricted water areas. Due to the maneuverability of the vessel in restricted areas was limited with dynamic boundary, so the establish the ship domain, dynamic static obstacles model and ship collision risk quantification are deduced by considering the factors of bank effect, shallow bottom, wind and current. In this research work, we adopted the geographical condition, environmental condition, ship domain, CPA and TCPA with safety factor to obtain the new temporally waypoint (called as point B') which can be guided the vessel with collision avoidance and it also can be leaded the vessel back to its original path in restricted water areas. In the first stage, the numerical computer simulations are conducted to evaluate the feasibility of the proposed automatic collision avoidance system in restricted area and tried to figure out the appropriate safety factors with ship domain, CPA and TCPA. The next stage, the feasibility of the automatic collision avoidance system in restricted water areas will be verified by performing a series of path following maneuvers with targets vessel with different encounter situation by u sing ship handling simulator-based experiments under strong environmental disturbance condition. The results might provide a realistic guide to the characteristics of automatic collision avoidance system associated in restricted water areas.