Velocity potential field based-modeling for ship's dynamic collision avoidance
A dynamic path planning method for unmanned autonomous ship collision avoidance with velocity potential field is proposed,which solves the problem that the artificial potential field method constructed with distance as an element cannot make the moving body actively redirect to avoid collision.In the artificial potential field,the relative speed between the unmanned ship and the obstacle,and the relative speed between the unmanned ship and the target point are integrated in-to the potential field,and the distance-speed potential field model is constructed.The method is applied to the dynamic path planning experiment of unmanned autonomous ship collision avoidance in complex and changeable waters where dynamic and static obstacles coexist.The results show that unmanned autonomous ships can quickly avoid obstacles by actively alter-ing her course,and the algorithm conforms to the actual collision avoidance engineering.
collision avoidancedynamic path planningvelocity potential field
NETL
NSTL
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