自主船舶於限制水域之自動航路規劃以地形偏移法結合IOT為研究

A ROUTE PLANNING STUDY FOR AUTONOMOUS VESSEL ON RESTRICTED WATER

本文將探討自主船舶於限制性水域之自動航路規劃並以地圖偏移方式及物聯網（internet of things，IoT）科技為基礎來研究探討船舶航路自動規劃路徑之研究。一般實務之航海作業中常以電子海圖顯示及資訊系統（ECDIS）來做為船舶定位以及海圖作業之平台，並依據有經驗之航海專業人員來進行船舶航路規劃，其綜合運用各類航儀之導航資訊、環境資訊、目的地等來設計規劃船舶航線。本研究將發展智慧化自動航路規劃模組，將傳統之船舶路徑規劃過程改為程式自動規劃，並輔以雲形線偏移的方式將地形資料一併納入設計。用以產生之導航目標點（way-points）等資訊，適合自主船舶應用於近岸或港域等環境受限之水域之船舶自主導航系統應用性。實驗將利用船舶操縱模擬器（ship maneuvering simulator，SMS）配合港口地形圖之地圖資料，過程中運用物聯網科技取得港口船席泊位並以雲形線向量式偏移（spline offset method）的方式，使地圖邊界由海岸線向海域方向進行一定安全範圍之延伸。確保自動航路規劃並由A*演算法產生之航路具備一定的離岸安全距離的同時，並保持有A*演算法之最適化航路的成效。最後將以船舶操縱模擬器作為驗證本研究之工具，以測試在模擬船舶運動之六個自由度下本論文規劃之航路的可行性。以促進無人船舶相關研究中，自動化航路規劃方式設計之發展。

This paper proposes an automatic route planning module for autonomous vessels which can be navigated in restricted water areas by using the map-based spline offset method and Internet of Things (IoT) technology. In this paper, the function of the automatic route planning module which combined the Internet of Things (IoT) technology such as the environmental conditions (Geographic Information System), harbor information for the berthing vessels, vessel maneuverability, and navigation safety margin into consideration. In general, marine vessels used route planning and cooperated with the autopilot system to automatically follow the pre-planned path route by waypoints for navigation. The Electronic Chart Display and Information System (ECDIS) is usually used as a platform for vessel positioning and chart work. The general ship’s autopilot system only works with the course-keeping function, and it can't prevent the interference of environmental disturbances such as wind, waves, and currents. Therefore, it is needed to add some more safety information to the IoT (Internet of Things) system into account such as navigation safety evaluation or environmental information before decision-making. The verification study will examine by using the Ship Maneuvering Simulator (SMS) which the generated waypoints will use the map-based spline offset method data and the Internet of Things technology. In order to promote the development of the design of automated route planning methods in the related research of unmanned ships.