Research on the safe and efficient collision avoidance methods for large autonomous merchant ships in open and busy waters

According to the actual needs of autonomous navigation and safety control of ships in open and busy waters, this study puts forward a complete technical chain of “autonomous navigation environment construction - collision avoidance and track control algorithm research - verification and incremental update of real ship data”, and gives the specific technical scheme and process route. That is to construct the virtual reality integrated simulation environment of ship autonomous navigation. Considering the multiple responses of large merchant ships, the ship handling model is coupled with the environment, and the ship autonomous collision avoidance algorithm model is established. By comparing the VDR data and simulation results, the algorithm and model are constantly updated, so as to finally realize the safe and efficient autonomous collision avoidance decision-making ability of ship intelligent navigation. The research results have important theoretical and technical support for expanding and improving the technical methods of ship navigation autonomous decision-making, and finally realizing the commercial application of ship intelligent navigation.