Research on Motion Planning Method Based on Maritime Rules and Ship Maneuverability
A motion planning method based on maritime rules and ship maneuverability was proposed.According to the requirements of maritime rules,the feasible area of ship transit was restricted.The maneuverability of the ship was analyzed according to the layout of the ship propeller,and the turning direction of the ship was obtained through the artificial potential field.The method of calculating po-tential energy was used to calculate the thrust and torque required by the ship instead of the traditional method of calculating resultant force.By applying the required thrust and torque to the ship,a ship trajectory containing speed and heading information was obtained,and the proposed method was simu-lated and compared with the traditional artificial potential field method.The results show that the trajectory planned by the proposed motion planning method can meet the requirements of maritime rules,is smoother than that planned by the traditional artificial potential field method,meets the re-quirements of ship maneuverability and has better control effect.
motion planningmaritime rulesmanoeuvrability of shipartificial potential field methodcollision avoidance
万方数据
维普
