Aiming at the trajectory planning task of large-scale commercial ships in autonomous berthing and con-sidering the far terminal trajectory planning stage and stable berthing at the end of the terminal respectively,a phased path planning method based on multi constraint analysis such as the characteristics and limitations of large-scale ships is proposed to complete the trajectory planning task for large-scale commercial ships in autono-mous berthing.In view of the large size of large merchant ships and the poor steering efficiency and maneuver-ability of real ships when moving at low speed,an artificial potential field method based on multi constraint anal-ysis such as large ship's own constraints is proposed to improve the problems of excessive gravity and unreachable target in the traditional artificial potential field method.In addition,considering the constraints of the ship itself and the berth information on the ship heading and speed in the stabilization stage,the output change curve of the rudder angle and the track planning are drawn on this basis,which provides a theoretical basis for the merchant ship to choose the appropriate route for berthing.
维普
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