【摘要】 提出一种改进的人工势场(Artificial Potential Field,APF)方法,将船舶的速度和操纵特性引入到模型的引力和斥力函数中,用于实现船舶自动避碰.讨论APF中的局部最小点问题,并提出解决方法.更多还原

【Abstract】 An improved Artificial Potential Field (APF) method is proposed to realize the autonomous collision avoidance in multi-ship situations. A novel APF model for ship collision avoidance is defined, and the velocity and maneuvering behavior of ship are introduced to the corresponding virtual force functions. The problem of local minima is addressed and solutions are presented.更多还原