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Collision accidents pose a serious threat to the navigation and operational safety of fishing vessels. To enhance the decision-making capability of fishing vessel operators, this paper proposes an intelligent collision avoidance decision-making method based on the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS). This method determines the encounter situation of the vessel in accordance with the COLREGS requirements and calculates the degree of collision risk, represented by the Collision Risk Index (ICR), based on the Distance to the Closest Point of Approach (dCPA) and the Time to the Closest Point of Approach (tCPA). By investigating the collision avoidance behaviors of multiple fishing vessel operators, the Goodwin marine observation results were revised to establish the Safe Distance Approach (SDA) specific to fishing vessels. Furthermore, the traditional Artificial Potential Field (APF) method was improved and integrated with a Genetic Algorithm (GA) to ensure that fishing vessels can avoid collisions safely and effectively. Finally, simulation experiments were conducted to validate the effectiveness of the proposed algorithm. The results demonstrate that the proposed method overcomes the limitations of the single artificial potential field approach in previous vessel collision avoidance decision-making systems. It achieves optimal steering amplitude and determines the appropriate timing for returning to the original course, thereby providing a safe and collision-free decision-making solution that complies with COLREGS. This study can serve as a valuable reference for practical collision avoidance operations by deck officers.
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为提高渔船驾驶员的避碰决策能力，提出一种基于《国际海上避碰规则》（COLREGS）（简称《规则》）的渔船智能避碰决策方法。该方法按照《规则》的要求确定船舶会遇态势，根据最近会遇距离（dCPA）和最近会遇时间（tCPA）计算得出碰撞危险度（ICR）。在针对多位渔船驾驶员避碰行为调查的基础上，对Goodwin海洋观测结果进行修正，得到渔船安全会遇距离（SDA）；对传统的人工势场法（APF）进行改进，将其与遗传算法（GA）相结合，以确保渔船安全避碰。运用仿真试验验证了该算法的有效性。结果表明:该算法消除了以往单一人工势场法在船舶避碰决策方面的缺陷，得到最佳转向幅度及恢复原航迹的时机，为渔船驾驶员提供一条适用于《规则》、安全无碰撞的避碰决策，可为驾驶人员避碰实践提供一定的参考。
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王悦凯（1999—），男，硕士研究生，研究方向为渔业船舶安全。E-mail:491822234@qq.com
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王悦凯（1999—），男，硕士研究生，研究方向为渔业船舶安全。E-mail:491822234@qq.com
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