Combined with the fast moving method,an autonomous obstacle avoidance method for ships using backward accessible sets to construct dynamic safety areas of ships was proposed.Taking the spatial position and geometric configuration of static obstacles as input,the backward reachable set of static obstacles in the ship's motion state was constructed,and the best navigation path of the ship was obtained by combining FMM.This path can save the movement cost on the premise of ensuring reliability and safety,and has the function of real-time dynamic monitoring compared with the general optimized path.The results show that this method enhances the reliability of the traditional FMM ob-stacle avoidance method.
关键词
后向可达集/快速行进法/船舶自主避障/路径规划
Key words
backward reachable set/fast marching method/autonomous obstacle avoidance of ships/path planning
维普
万方数据