Resumen
In response to the urgent need for quantitative evaluation of the obstacle avoidance performance of an unmanned ship, a quantitative evaluation model is established to evaluate quantitatively the obstacle perception performance, static obstacle avoidance performance and dynamic obstacle avoidance performance of an unmanned ship. The base data for calculating are derived from the shore-based database; the evaluation factor layer is evaluated by the cost function method. Based on the established evaluation model, the quantitative evaluation score of the obstacle perception performance of the unmanned ship is obtained by data analysis for the 50 to 100 m buoy and 100 m island obstacle perception test. The quantitative evaluation score of the static obstacle avoidance performance obtained by testing the performance of a single obstacle, continuous obstacle and inflection obstacle is 68.8 points. For buoys as dynamic obstacles, the dynamic obstacle avoidance performance quantitative evaluation score of 64.13 points is obtained by testing the performance of obstacle avoidance in chasing, facing and crossing encounters. The analysis of the test data saved to the database verify the rationality of the quantitative evaluation model, which can provide reference for the quantitative evaluation and improvement of the unmanned ship?s obstacle avoidance performance.