In the process of ship collision avoidance decision making, steering collision avoidance is the most frequently adopted collision avoidance method. In order to obtain an effective and reasonable steering angle, this paper proposes a decision-making method for ship collision avoidance based on improved cultural particle swarm. Firstly, the ship steering angle direction is to be determined. In this stage, the Kalman filter is used to predict the ship’s trajectory. According to the prediction parameters, the collision risk index of the ship is calculated and the situation with the most dangerous ship is judged. Then, the steering angle direction of the ship is determined by considering the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). Secondly, the ship steering angle is to be calculated. In this stage, the cultural particle swarm optimization algorithm is improved by introducing the index of population premature convergence degree to adaptively adjust the inertia weight of the cultural particle swarm so as to avoid the algorithm falling into premature convergence state. The improved cultural particle swarm optimization algorithm is used to find the optimal steering angle within the range of the steering angle direction. Compared with other evolutionary algorithms, the improved cultural particle swarm optimization algorithm has better global convergence. The convergence speed and stability are also significantly improved. Thirdly, the ship steering angle direction decision method in the first stage and the ship steering angle decision method in the second stage are integrated into the electronic chart platform to verify the effectiveness of the decision-making method of ship collision avoidance presented in this paper. Results show that the proposed approach can automatically realize collision avoidance from all other ships and it has an important practical application value.

中文翻译：

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基于改进文化粒子群的船舶防撞决策方法

在船舶避碰决策过程中，转向避碰是最常用的避碰方法。为了获得有效合理的转向角，提出了一种基于改进的文化粒子群的避免船舶碰撞的决策方法。首先，确定船舶转向角方向。在这一阶段，卡尔曼滤波器用于预测船舶的航迹。根据预测参数，计算出船舶的碰撞风险指数，并判断最危险船舶的状况。然后，通过考虑《国际海上避碰规则公约》（COLREG）确定船舶的转向角方向。其次，要计算船舶的转向角。在这个阶段 通过引入种群过早收敛程度的指标来改进文化粒子群算法，自适应调整文化粒子群的惯性权重，避免算法陷入过早收敛的状态。改进的文化粒子群算法用于在转向角方向范围内找到最优转向角。与其他进化算法相比，改进的文化粒子群算法具有更好的全局收敛性。收敛速度和稳定性也大大提高。第三，将第一阶段的船舶转向角方向决策方法和第二阶段的船舶转向角决策方法集成到电子海图平台中，以验证本文提出的避免船舶碰撞决策方法的有效性。结果表明，该方法能够自动实现与其他所有船舶的避碰，具有重要的实际应用价值。