Resumen
A maneuvering decision-making model based on time series rolling and feedback compensation methods is proposed to solve the problem of high traffic risk in Chengshantou traffic separation scheme (TSS) waters. Firstly, a digital traffic environment model suitable for the TSS waters is proposed. Secondly, a navigation risk identification method in these waters is constructed based on the digitized traffic environment and situation identification model in the Chengshantou TSS waters. Thirdly, considering the requirements of the rules and good seamanship, minimum course altering is obtained by combining the collision avoidance mechanism. Lastly, a maneuvering decision-making model in the TSS waters based on time series rolling and feedback compensation methods is developed. The simulation results show that the ship can correctly identify the collision risk and appropriately obtain maneuvering decisions, and can resume the planned route under the premise of ensuring safety. When the target ships alter course or change speed, the ship can also make adaptive maneuvering decisions. In summary, the proposed method meets the requirement of safe navigation in Chengshantou waters and provides a theoretical basis for the realization of intelligent navigation in waters similar to TSS.