Application of improved APF method in ship narrow channel path planning

Ziming Liu; Yuelin Zhao

doi:10.1117/12.2668514

16 February 2023 Application of improved APF method in ship narrow channel path planning

Ziming Liu, Yuelin Zhao

Proceedings Volume 12591, Sixth International Conference on Traffic Engineering and Transportation System (ICTETS 2022); 125911R (2023) https://doi.org/10.1117/12.2668514
Event: 6th International Conference on Traffic Engineering and Transportation System (ICTETS 2022), 2022, Guangzhou, China

Abstract

For the minimum value problem, an adaptive parameter adjustment method is proposed, so that the ship can quickly leave the local minimum value. According to the special provisions of the "Rules" for narrow channel waters, the risk evaluation index is introduced to the repulsion force field. Adjusting the ship through the magnitude of the repulsive force in different directions, and with corresponding thresholds set to prevent emergencies, the ship is guided to take further avoidance measures so that the planned ship avoidance measures are more in line with the requirements of international maritime collision avoidance regulations.

Citation Download Citation

Ziming Liu and Yuelin Zhao "Application of improved APF method in ship narrow channel path planning", Proc. SPIE 12591, Sixth International Conference on Traffic Engineering and Transportation System (ICTETS 2022), 125911R (16 February 2023); https://doi.org/10.1117/12.2668514

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