人工势场算法下复杂水域船舶海上交通规划方法  

Marine traffic planning method for ships in complex waters based on artificial potential field algorithm

作　　者：陈留远 许江涛 王举 郑炎伟 CHEN Liuyuan;XU Jiangtao;WANG Ju;ZHENG Yanwei(Institute of Navigation Technology,Jiangsu Maritime Institute,Nanjing 211170,China;School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China;Naval Architecture and Shipping College,Guangdong Ocean University,Zhanjiang 524005,China;Zhanjiang Pilot Station,Zhanjiang 524002,China)

机构地区：[1]江苏海事职业技术学院航海技术学院,江苏南京211170 [2]南京工程学院机械工程学院,江苏南京211167 [3]广东海洋大学船舶与海运学院,广东湛江524005 [4]湛江港引航站,广东湛江524002

出　　处：《舰船科学技术》2025年第6期162-166,共5页Ship Science and Technology

基　　金：中国交通教育研究会2022-2024年度教育研究课题(JT2022YB144)。

摘　　要：针对复杂水域中船舶频繁遭遇的动态与静态障碍物问题,本文提出人工势场算法下复杂水域船舶海上交通规划方法。运用实时采集的海上环境信息,构建船舶交通人工势场模型,通过模型中障碍物与目标点的斥力与引力,获得二者的合力,引导船舶躲避障碍物并向目标点航行;向障碍物斥力函数中引入目标距离参数,限制障碍物斥力,解决复杂障碍物下船舶无法抵达目标点问题;增设虚拟目标点,避免复杂水域下船舶规划陷入局部最优状态,得到全局最优规划路径。结果表明,该方法可实现不同复杂水域下船舶最优交通路径规划,准确避障的同时,降低船舶航行时间步长,保证船舶安全高效航行。In response to the frequent encounter of dynamic and static obstacles by ships in complex waters,this paper proposes an artificial potential field algorithm for ship maritime traffic planning in complex waters.By utilizing real-time collected marine environmental information,a ship traffic artificial potential field model is constructed.Through the repulsive and attractive forces between obstacles and target points in the model,the combined force of the two is obtained to guide the ship to avoid obstacles and navigate towards the target point;Introducing the target distance parameter into the obstacle repulsion function to limit the obstacle repulsion and solve the problem of ships being unable to reach the target point under complex obstacles;Add virtual target points to avoid getting stuck in local optima in ship planning in complex waters,and obtain the global optimal planning path.The results show that this method can achieve optimal traffic path planning for ships in different complex water areas,accurately avoid obstacles,reduce the time step of ship navigation to ensure safe and efficient navigation.

关 键 词：人工势场算法 复杂水域 船舶海上交通 障碍物 斥力函数 虚拟目标点 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]