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研究两艘船舶在紧迫局面下的避碰问题,建立避碰问题的微分博弈数学模型,将避碰问题转化为追逃微分博弈问题,用微分博弈的方法推导出追逃双方为了达到各自目的所应采取的最优控制策略,并给出数值模拟算法.研究表明,双方的控制作用使得彼此加速度方向一致时,双方都取得最优控制策略,同时也证明微分博弈方法在处理紧迫局面下的避碰问题时的有效性.
The collision avoidance problem of two ships under the urgent situation is studied and the differential game mathematic model of collision avoidance problem is established. The collision avoidance problem is transformed into the pursuit game of differential game. The differential game is used to deduce the two sides’ The optimal control strategy to be taken and the numerical simulation algorithm are given.The research shows that both sides get the optimal control strategy when the two sides control each other in the same acceleration direction and prove that the differential game method can avoid the urgent situation Effectiveness when touching problems.