For the minimum value problem, an adaptive parameter adjustment method is proposed, so that the ship can quickly leave the local minimum value. According to the special provisions of the "Rules" for narrow channel waters, the risk evaluation index is introduced to the repulsion force field. Adjusting the ship through the magnitude of the repulsive force in different directions, and with corresponding thresholds set to prevent emergencies, the ship is guided to take further avoidance measures so that the planned ship avoidance measures are more in line with the requirements of international maritime collision avoidance regulations.
Application of improved APF method in ship narrow channel path planning
Sixth International Conference on Traffic Engineering and Transportation System (ICTETS 2022) ; 2022 ; Guangzhou,China
Proc. SPIE ; 12591
2023-02-16
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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