中文摘要：

为研究港区水域多船避碰问题,提出建立复杂性地图来为避碰提供信息决策的方法.扰动船在到达水域边界之前,利用联合避碰算法,并考虑《国际海上避碰规则》来对扰动船以每种可能的航向进入水域而给水域内的船舶所带来的复杂性值进行计算,从而构建出复杂性地图.利用该复杂性地图提前为扰动船决定一个合适的进入水域的位置和航向,保证该船以此方式进入时,其与水域内他船没有碰撞冲突或者为直航船,从而减少水域内船舶为避碰所需的操纵活动.通过两种交通情景来建立复杂性地图,并对该地图提供的避碰决策信息的有效性进行验证,仿真结果表明,利用复杂性地图提供的信息均成功地在总体避碰操纵活动最小的要求下,为扰动船选取了合适的进入点和航向来安全通过该水域,并到达其最终目的地,结果证明了该方法的可行性.

英文摘要：

To study the problem of multi-ship collision avoidance in the port, the complexity map is proposed to make the decision for the collision avoidance. Before the disturbance ship reaches the sec- tor boundary, the simultaneous collision avoidance algorithms and the Convention on the International Regulations for Preventing Collisions at Sea （COLREGS） are used to compute the complexity value caused by every possible heading angle used by the disturbance ship to enter the sector, and the com- plexity map is constructed. Then a proper pair of entry point and heading is judged by the complexity map for the disturbance ship in advance, where the entering ship has no conflicts or is the stand-on vessel with the other ships in the sector, which will reduce the control activity of the ships in the sec- tor. The complexity maps are constructed by two kinds of traffic scenario, and the validity of the deci- sion made by the maps is verified, and the simulation results show that the proper entry point and heading angle are all successfully selected for the entering ship with the minimum control activity to go through the sector safely, and reach its final location, which proves the feasibility of the method.