To provide a vessel collision avoidance method and system based on an artificial potential field method.SOLUTION: A vessel collision avoidance method based on an artificial potential field method according to one embodiment of the present invention comprises steps of: (S1) acquiring vessel information, at least one piece of obstacle information and target place information; (S2) establishing an artificial potential field including an attractive force potential field of a target place and a repulsive force potential field of at least one obstacle based on the vessel information, the obstacle information and the target place information; (S3) synthesizing the attractive force potential field of the target place with the repulsive force potential field of the at least one obstacle to obtain first resultant force; (S4) adding external force based on the vessel information or the obstacle information; (S5) synthesizing the first resultant force with the external force to obtain second resultant force; and (S6) navigating a vessel according to a direction of the second resultant force to avoid the at least one obstacle.SELECTED DRAWING: Figure 1
【課題】人工ポテンシャル場法に基づく船舶衝突回避方法及びシステムを提供する。【解決手段】本発明の一実施例による人工ポテンシャル場法に基づく船舶衝突回避方法は、(S1)船舶情報、少なくとも1つの障害物情報及び目標地情報を取得するステップ、(S2)前記船舶情報、前記障害物情報及び前記目標地情報に基づいて、目標地の引力ポテンシャル場及び少なくとも1つの障害物の斥力ポテンシャル場を含む人工ポテンシャル場を確立するステップ、(S3)前記目標地の引力ポテンシャル場と前記少なくとも1つの障害物の斥力ポテンシャル場を合成して、第1の合力を得るステップ、(S4)前記船舶情報又は前記障害物情報に基づいて外力を加えるステップ、(S5)前記第1の合力と前記外力を合成して、第2の合力を得るステップ、(S6)前記船舶が前記第2の合力の方向に従って航行して、前記少なくとも1つの障害物を回避するステップを含む。【選択図】 図1
VESSEL COLLISION AVOIDANCE METHOD BASED ON ARTIFICIAL POTENTIAL FIELD METHOD AND SYSTEM
人工ポテンシャル場法に基づく船舶衝突回避方法及びシステム
2021-09-27
Patent
Elektronische Ressource
Japanisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63J Hilfsanlagen auf Schiffen , AUXILIARIES ON VESSELS |
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