Path Planning of Inland River Emergency Rescue Vessels Based on Improved Artificial Potential Field Method
Aiming at the path planning problem of emergency rescue vessels during extreme flooding,a path planning algorithm with improved artificial potential field method is proposed to achieve fast and accurate rescue of inland river emergency rescue vessels.Due to the safety problems such as local minimum point and unreachable target in the traditional artificial potential field method,the repulsion potential field function is improved to solve the unreachable target problem when an emergency rescue vessel is close to the rescue point of an obstacle.Through numerical simulation experiments,the improved artificial potential field method can help emergency rescue vessels safely reach the rescue point in complex inland waterway environments.
emergency rescue vessellocal path planningartificial potential field methodimproved repulsion potential field functionescape force
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