Path planning of ship based on artificial potential field-maneuvering motion hybrid model

被引：0
|
作者：
Cheng X. [1 ,2 ]
Liu P. [1 ,2 ]
Han K. [1 ,2 ]
Shi C. [1 ,2 ]
机构：
[1] Key Laboratory of High Performance Ship Technology, Ministry of Education, Wuhan University of Technology, Wuhan
[2] School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2024年 / 52卷 / 01期
关键词：
artificial potential field; collision avoidance; global path planning; maneuvering motion model; ship maneuverability;
D O I：
10.13245/j.hust.240360
中图分类号：
学科分类号：
摘要：
To improve the rationality and safety of the global path planning of the ship, a path planning method considering ship maneuverability was proposed. Firstly, the yaw moment and the ship domain were introduced to improve the traditional artificial potential field. Secondly, the mechanism in fusion of artificial potential field method and ship maneuvering motion model was studied, and the artificial potential field-maneuvering motion hybrid model was introduced. Finally, the hybrid model was used to solve the path planning of a ship in two typical static obstacle environments.The simulation results showed that the path planned by this method can safely avoid obstacles in the surrounding environment. Compared with the traditional artificial potential field, the corners are smoother when passing through obstacles, the steering angle of each point of the path can satisfy the constraints of the ship maneuvering performance.A smoother path is more in line with the requirements of the actual sailing conditions of the ship. © 2024 Huazhong University of Science and Technology. All rights reserved.
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页码：85 / 90
页数：5
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