航线交换机制下多船避碰的策略学习与博弈决策
汪洋,刘红超,田池,吴兵,张笛

Multi-ship collision avoidance via route exchange mechanism: strategy learning and game-theoretic decision making
Yang WANG,Hongchao LIU,Chi TIAN,Bing WU,Di ZHANG
表 2 四船航点信息
Tab.2 Waypoint information for four ships
船1船2船3船4
$ \text{route}_{0}^{1} $时间位置$ \text{route}_{0}^{2} $时间位置$ \text{route}_{0}^{3} $时间位置$ \text{route}_{0}^{4} $时间位置
$ \text{WP}_{0}^{1}(t_{0}^{1}) $13:30:00(7.40,3.62)$ \text{WP}_{0}^{2}(t_{0}^{1}) $13:30:00(1.56,11.81)$ \text{WP}_{0}^{3}(t_{0}^{1}) $13:30:00(11.73,10.87)$ \text{WP}_{0}^{4}(t_{0}^{1}) $13:30:00(4.49,14.25)
$ \text{WP}_{0}^{1}(t_{0}^{2}) $13:36:52(7.40,5.12)$ \text{WP}_{0}^{2}(t_{0}^{2}) $13:37:19(2.93,11.21)$ \text{WP}_{0}^{3}(t_{0}^{2}) $13:36:03(10.57,9.92)$ \text{WP}_{0}^{4}(t_{0}^{2}) $13:36:34(4.79,12.78)
$ \text{WP}_{0}^{1}(t_{0}^{3}) $13:43:44(7.40,6.62)$ \text{WP}_{0}^{2}(t_{0}^{3}) $13:44:38(4.31,10.61)$ \text{WP}_{0}^{3}(t_{0}^{3}) $13:42:05(9.40,8.97)$ \text{WP}_{0}^{4}(t_{0}^{3}) $13:43:08(5.08,11.31)
$ \text{WP}_{0}^{1}(t_{0}^{4}) $13:50:37(7.40,8.12)$ \text{WP}_{0}^{2}(t_{0}^{4}) $13:51:57(5.68,10.01)$ \text{WP}_{0}^{3}(t_{0}^{4}) $13:48:07(8.24,8.03)$ \text{WP}_{0}^{4}(t_{0}^{4}) $13:49:43(5.38,9.84)
$ \text{WP}_{0}^{1}(t_{0}^{5}) $13:57:29(7.40,9.62)$ \text{WP}_{0}^{2}(t_{0}^{5}) $13:59:16(7.05,9.41)$ \text{WP}_{0}^{3}(t_{0}^{5}) $13:54:10(7.07,7.08)$ \text{WP}_{0}^{4}(t_{0}^{5}) $13:56:17(5.68,8.37)
$ \text{WP}_{0}^{1}(t_{0}^{6}) $14:04:21(7.40,11.12)$ \text{WP}_{0}^{2}(t_{0}^{6}) $14:06:35(8.43,8.81)$ \text{WP}_{0}^{3}(t_{0}^{6}) $14:00:12(5.91,6.14)$ \text{WP}_{0}^{4}(t_{0}^{6}) $14:02:51(5.98,6.90)
$ \text{WP}_{0}^{1}(t_{0}^{7}) $14:11:13(7.40,12.62)$ \text{WP}_{0}^{2}(t_{0}^{7}) $14:13:54(9.80,8.21)$ \text{WP}_{0}^{3}(t_{0}^{7}) $14:06:15(4.74,5.19)$ \text{WP}_{0}^{4}(t_{0}^{7}) $14:09:25(6.28,5.43)
$ \text{WP}_{0}^{1}(t_{0}^{8}) $14:18:05(7.40,14.12)$ \text{WP}_{0}^{2}(t_{0}^{8}) $14:21:13(11.18,7.60)$ \text{WP}_{0}^{3}(t_{0}^{8}) $14:12:17(3.58,4.25)$ \text{WP}_{0}^{4}(t_{0}^{8}) $14:15:58(6.57,3.96)