Dynamic adaptive autonomous navigation method for bridge area in the lower reaches of the Yangtze River

Aiming at the complex and time-varying environment, special navigation rules and restricted navigable waters in the bridge area of the lower reaches of the Yangtze River, an autonomous navigation decision-making method is proposed. Based on the digital traffic environment model, combining guidance model, MMG（Mathematical Model Group） model and track control method, an automatic navigation model is constructed. On the premise of navigation rules and good seamanship, the feasible maneuvering interval is calculated, then the autonomous navigation decision is obtained by eliminating the residual error and adaptive maneuvering of TS（Target Ship） with the time-series rolling framework. The simulation results show that this method can adapt to the time-varying environment in this kind of water area and achieve adaptive multi-target avoidance, and pass safely along the recommended route. It can provide an adaptive decision-making method for autonomous navigation in bridge area.