基于改进人工势场法的船舶静态避碰研究  

Research on ship static collision avoidance based on improved artificial potential field method

作　　者：李永正[1] 陈怡 赵师纬 张胜 张海华[2] 杨立[2] 许凯玮 张茜 LI Yong-zheng;CHEN Yi;ZHAO Shi-wei;ZHANG Sheng;ZHANG Hai-hua;YANG Li;XU Kai-wei;ZHANG Qian(School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,Jiangsu Zhenjiang 212003,China;Shanghai Branch,China Ship Scientific Research Center,Shanghai 200011,China;Shanghai Maritime University,Shanghai 200135,China)

机构地区：[1]江苏科技大学船舶与海洋工程学院,江苏镇江212003 [2]中国船舶科学研究中心上海分部,上海200011 [3]上海海事大学信息工程学院,上海200135

出　　处：《舰船科学技术》2023年第21期76-80,共5页Ship Science and Technology

摘　　要：智能航运能够高效协调航运相关资源,降低航运成本,高智能化的船舶还可高效利用能源,降低能耗。智能船舶的路径规划和自主决策能力是航运安全最为关键的环节,路径规划能够在复杂的海洋环境中规划出一条安全高效的路径,而自主决策在船舶遇到碰撞危险时能够迅速做出最优的避碰策略。本文主要针对船舶在静态环境中的路径规划和避碰决策进行研究。Intelligent shipping can efficiently coordinate shipping related resources and reduce shipping costs.Highly intelligent ships can also use energy efficiently and reduce energy consumption.In the aspect of shipping safety,the path planning and independent decision-making ability of intelligent ships are the most critical links.Path planning can plan a safe and efficient path in a complex marine environment,and independent decision-making can quickly make the optimal colli-sion avoidance strategy when ships encounter collision risks.This paper mainly studies the path planning and collision avoid-ance decision-making of ships in static environment.

关 键 词：人工势场法 模拟退火法 碰撞危险度 全局路径规划 局部动态避碰 

分 类 号：U664.82[交通运输工程—船舶及航道工程]