시뮬레이션과 자유항주 모형시험을 이용한 대양 및 천수 제한수로에서 대형 컨테이너의 충돌회피 알고리즘에 관한 연구

Abstract

For safe navigation of large container vessel, an algorithm of collision avoidance is developed by using Fuzzy algorithm and the concept of Changeable Action Space (CAS). On a basis of collision risk calculated from fuzzy algorithm, alternative Action Space for collision avoidance is calculated and it is corrected considering changed collision risk in real time. Also, the safest and most effective course out of Action Space is decided by using optimization method in real time. To take the consideration of geographical restriction such as constraints of fairway, the concept of Virtual Searching Antenna (VSA) is designed to control searching range. The maneuverability of a large container vessel of 9,000 TEU (9KCNT) is estimated in the condition of deep sea through Free-running test. In the condition of shallow water in which H/d is 1.2 to 1.6, the maneuverability of 9KCNT is estimated by using the Kijima model. In order to test the performance of a newly-designed algorithm of collision avoidance, simulations and free running model tests are carried out on the scenario of an open sea and the shallow confined waterway of Gwang-yang in Korea. In open sea, to check into the performance of algorithm according to the change of velocity direction of traffic ship, both simulation and free running model tests are carried out. On the other hand, in Gwang-yang, large container terminal are located in the neighbor of tanker terminal and the risk of collision is very high between container vessel and tankers. Passages are very narrow and the depth is as shallow as about 16m to 23m and its H/d is 1.2 to 1.6 for the 9KCNT. Simulations on the scenarios of the traffic problem such as passage share and passage crossing in the shallow confined waterway of Gwang-yang, are carried out including the condition of wind and current. In this paper, the results of numerical simulation in open sea are compared with those of and free running model tests. Also, the results of simulation on the sc