基于人工势场法的船舶自动避碰系统研究  

STUDY ON SHIP AUTO-COLLISION AVOIDANCE SYSTEM BASED ON ARTIFICIAL POTENTIAL FIELD

作　　者：钟碧良[1] 刘先杰[1] 吴建生 邱建宁 姜华 

机构地区：[1]广州航海高等专科学校,广东广州510725 [2]广州海事局,广东广州510700

出　　处：《广州航海高等专科学校学报》2008年第1期8-11,共4页Journal of Guangzhou Maritime College

基　　金：广东省自然科学基金项目(04300614);广东省科技计划项目(2006B37202007)

摘　　要：分析了现有船舶自动避碰系统的不足,提出了基于人工势场法的船舶自动避碰系统.根据船舶的操纵特性,建立了引力场和斥力场函数,实现船舶自动避碰航行的合力和方向.在电子海图所建立的仿真环境中,验证了人工势场法可用于船舶自动避碰系统中.On analyzing the defects of the existing system, the paper purpose a ship＇ s automatic collision avoidance system based on artificial potential field. According to the ship＇ s manoeuvring feature, a gravitational field and repulsion field function are established and the size and direction of total-force of ship navigation obtained. In the simulation environment established by electronic charts, the results show that artificial potential field method can be used for ship＇ s automatic collision avoidance system.

关 键 词：人工势场法 船舶避碰 自动导航 

分 类 号：U675[交通运输工程—船舶及航道工程]