The invention relates to the technical field of ship guidance and control, and provides a ship guidance and control method considering a collision avoidance rule, which can obtain the attraction of a target point to a ship and the repulsive force of an obstacle to the ship according to the real-time positions and speeds of the ship, the obstacle and the target by improving a traditional artificial potential field function. The size and the direction of the repulsive force of the obstacle to the ship are obtained by selecting a proper potential field function, so that the collision avoidance direction of the ship is adjusted, and the ship can avoid the obstacle according to the requirement of the collision avoidance rule. And a corresponding ship path tracking control algorithm is designed, so that the path planning and the path tracking control achieve a complementary effect, and the problem of rigid connection in the combination of a planning algorithm and a tracking control algorithm is avoided.
本发明涉及船舶制导与控制技术领域,提供一种考虑避碰规则的船舶制导与控制方法,通过对传统的人工势场函数进行改进,使其能够根据船舶自身、障碍物和目标的实时位置和速度得到目标点对船舶的吸引力,障碍物对船舶的排斥力。通过选择合适的势场函数得到障碍物对船舶排斥力的大小和方向来,来调整船舶避碰的方向,使其能够依据避碰规则的要求躲避障碍物。并通过设计相应的船舶路径跟踪控制算法,使路径规划和路径跟踪控制达到相辅相成的效果,避免了规划算法和跟踪控制算法结合中的硬性衔接问题。
Ship guidance and control method considering collision avoidance rule
一种考虑避碰规则的船舶制导与控制方法
2023-12-15
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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