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.
An improved Artificial Potential Field （APF） method is proposed to realize the autonomous eollision avoidanee in multi-ship situations. A novel APF model for ship eollision avoidanee is defined, and the veloeity and maneuvering behavior of ship are introdueed to the eorresponding virtual foree funetions. The problem of loeal minima is addressed and solutions are presented.
出处
《上海海事大学学报》
北大核心
2007年第1期126-131,共6页
Journal of Shanghai Maritime University
基金
上海市重点学科建设项目(T0603)
关键词
人工势场
自动避碰
多船避碰
船舶驾驶自动化
Artifieial Potential Field
autonomous eollision avoidanee
multi-ship situation
ship navigation automation
