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应用调和势场方法的船舶自动航行与避碰
发表时间：2009-05-31 浏览量：1927 下载量：899
| 全部作者： | 施朝健，张鸣鸣 |
| 作者单位： | 上海海事大学商船学院 |
| 摘 要： | 利用调和函数可以解决人工势场方法中“局部最小点”的问题。应用调和函数定义了势场，选取合适的边界条件，解决船舶航行的路径规划问题。利用调和势场，船舶无论在开敞水域或受限水域都可以自动生成航行路径，并且可以遵从特定水域的航行规则和海员通常做法。对狭水道和通航分道两种水域进行了计算机仿真实验。结果表明：调和势场方法用于船舶航行路径规划和避碰效果良好。 |
| 关 键 词： | 水路运输；船舶自动航行；船舶避碰；人工势场；调和函数；运动规划 |
| Title： | Ship automatic navigation and collision avoidance using harmonic potential field |
| Author： | SHI Chaojian, ZHANG Mingming |
| Organization： | Merchant Marine College, Shanghai Maritime University |
| Abstract： | Ship automatic navigation technology is a promising approach for reducing human errors in maritime accidents. Artificial potential field method has been successfully employed for path planning of automatic mobile robot, and it is also effective for ship navigation and collision avoidance at sea. The problem of local minima, however, should be properly tackled. Harmonic functions can be used to solve the problem. In this paper, harmonic functions were used in defining the potential field. Proper boundary conditions were chosen to solve the navigation planning problem for ships. With the harmonic potential field, ship navigation route could be generated automatically in constrained water areas as well as at open sea, and the tracks of the ships could follow the navigational regulations and general practices of seaman in specific water areas. Computer simulations were applied in two typical water areas including traffic lane and narrow channel. The simulations illustrated satisfying results for path planning of ship navigation and collision avoidance. |
| Key words： | waterway transportation; ship automatic navigation; collision avoidance; potential field; harmonic function; motion planning |
| 发表期数： | 2009年5月第10期 |
| 引用格式： | 施朝健，张鸣鸣. 应用调和势场方法的船舶自动航行与避碰[J]. 中国科技论文在线精品论文，2009，2（10）：1043-1050. |
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