【摘要】 文中提出一种运用后向可达集构造船舶动态安全区域，并结合快速行进法(fast marching method, FMM)的船舶自主避障方法.以静态障碍物的空间位置及几何构型为输入，构造本船运动状态下静态障碍物的后向可达集，结合FMM得到船舶航行的最佳路径.该路径能在保证可靠安全的前提下节约运动成本，相对于一般的最优化路径具有可实时动态监测的功能.结果表明：该方法增强了传统FMM避障方法的可靠性.更多还原

【Abstract】 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 obstacle avoidance method.更多还原