無人船巡跡避碰研析

THE STUDY ON THE COLLISION AVOIDANCE SYSTEM IN AN AUTONOMOUS SHIP

本研究基於已發展之不同海洋環境下船舶避碰e化輔助系統之概念，重新建立一套無人船避碰巡跡輔助系統，以自動避碰系統取代人工操航避碰，以期改善船舶在海上航行之安全及避免因人為誤失所造成的海上事故。研究方法係採用已發展之非線性六度操縱性船體運動數學模式進行數值模擬，並應用野本謙作（Nomoto, K.）所提出的二階操縱反應式，建立迴旋性指數、延遲性指數與船舶迴旋角速度間之關係，以供快速模擬計算船舶之操縱反應，進而應用發展可搭配各種避碰要求設定，迅速運算提出可供船舶避碰操舵決策之參考資訊之輔助功能程式。

Based on the concept of E-navigation-aid system for using with various hydro-meteorological conditions developed by authors, this study plans to develop an ship collision avoidance system for autonomous ship. A real-time simulator, UMS-NCKU, which is based on the 6-DOF Manoeuvring Modelling Group (MMG) model, will be con-structed and used for the numerical simulation. In this study, a numerical technique based on Nomoto’s second-order model was employed to investigate the turning characteristics of a small ship. The manoeuvring indices were obtained from numerical simulations using the Newton-Raphson method and a regression technique. There are three simple ship encounter collision avoidance cases in fast-time simulations were selected to verify the proposed autonomous ship collision avoidance system with respect to different hydro-meteorological conditions and the results were then compared with those of the ship collision avoidance steering system in calm water.