水下无人系统学报 (Oct 2023)
Ship Collision Avoidance Path Planning Based on Dynamic Domain Potential Field
Abstract
In view of the limitations of traditional artificial potential field collision avoidance path planning in terms of collision avoidance distance and collision avoidance opportunity, a dynamic ship collision avoidance path planning method based on an improved artificial potential field method was proposed. By using the quaternion safety domain, the repulsion force action range of the fixed obstacle in the artificial potential field was improved, and a collision avoidance domain range that was dynamically adjusted according to the ship speed was constructed to replace the potential field range of obstacle repulsion force with a fixed threshold, so as to realize the collision avoidance distance from static to dynamic. A variable adjustment angle was added to the sub-target setting method with an adaptive setting radius to change the distance between the sub-target point and the obstacle, so as to solve the problem of local minimum and path jitter when there are large obstacles. The improved algorithm could build adaptive collision avoidance domains according to different ship speeds and realize dynamic adjustment of ship collision avoidance distance. With the goal of ensuring safety, the improved algorithm could reduce unnecessary collision threats and collision avoidance behaviors caused by an excessively conservative collision avoidance distance. When the velocity is 1 m/s, the dynamic domain potential field method saves 8% and 9% of the voyage, respectively, compared with the traditional artificial potential field method with the potential field range of repulsion force of 100 and 200 m. Real chart simulation experiments confirmed the viability of the proposed collision avoidance path planning algorithm and realized the safe collision avoidance path planning of ships in complicated scenarios with large obstacles.
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