| APF方法在船舶自动避碰中的应用 |
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| 引用本文： | 张鸣鸣,施朝健.APF方法在船舶自动避碰中的应用[J].上海海事大学学报,2007,28(1):126-131. |
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| 作者姓名： | 张鸣鸣 施朝健 |
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| 作者单位： | 上海海事大学,商船学院,上海,200135 |
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| 基金项目： | 上海市重点学科建设项目 |
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| 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.
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| 关 键 词： | 人工势场 自动避碰 多船避碰 船舶驾驶自动化 |
| 文章编号： | 1672-9498（2007）01-0126-06 |
| 修稿时间： | 2007-01-05 |
Application of APF method in ship's autonomous collision avoidance |
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| ZHANG Mingming,SHI Chaojian.Application of APF method in ship''s autonomous collision avoidance[J].Journal of Shanghai Maritime University,2007,28(1):126-131. |
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| Authors: | ZHANG Mingming SHI Chaojian |
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| Institution: | Merchant Marine College, Shanghai Maritime Univ. , Shanghai 200135, China |
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| Abstract: | An improved Artificial Potential Field (APF) method is proposed to realize the autonomous collision avoidance in multi-ship situations. A novel APF model for ship collision avoidance is defined, and the velocity and maneuvering behavior of ship are introduced to the corresponding virtual force functions. The problem of local minima is addressed and solutions are presented. |
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| Keywords: | Artificial Potential Field autonomous collision avoidance multi-ship situation ship navigation automation |
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