2次元の自由移動体の管制方式に関する考察 (第2報)

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For a traffic control system for ships passing through the control region arbitrarily, optimization techniques can be effectively utilized to get smooth and safe courses avoiding dangerous encounters where miss distance and destination error for each ship are evaluated as a criterion function. In the paper, the control algorithm shown in the previous paper is applied to more real situations to investigate the applicability and limitation of the algorithm, where 1) ships have their own priority levels, 2) fixed point obstacle exists in the region, and 3) ships are passing continuously through the control area, Through the investigation, it is shown that the control system can be applied to those situations with slight modification of the algorithm and proper parameter selection, and the following results are obtained. 1) Priority of ships can be taken into account in the control algorithm by selecting weighting parameters evaluating the destination errors according to the priority level of the ships. An obstacle in the region can also be considered as a stationary ship with extreme priority. 2) In order to realize reasonable priority reporting, a concept to collect priority charge from each ship equal to the expected gain, i. e., the decrease of the course deviation loss by adopting the reported priority instead of equal priority, is proposed. If the base priorities are chosen adequately according to the average cost of ship type or its objective, this charging system makes it possible to optimize total expected cost including the charge in the minimax sense when ships report the pniorities based on actual cost. 3) Control performance is evaluated by simulation study for the third situation, and the proposed algorithm can control 97% of total time interval clearing 1 km miss distance only by changing the direction, when ships pass 12 km l2 km region arbitrarily with 4 minutes average arrival time. Average delay time by the course deviation is about 0.15 min. Comparing this result with that of the control system on parallel route crossings proposed by Kobayashi and Koyama, the delay time is decreased as the ship speed is kept in this case.
社団法人日本船舶海洋工学会の論文

2次元の自由移動体の管制方式に関する考察 (第2報)

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