본 발명은 인공 포텐셜장에 기반한 선박 충돌 회피 방법을 제시한다. 상기 방법에는 다음 단계가 포함된다: (S1) 선박정보, 최소한 한개 장애물의 정보, 및 목표점 정보를 취득한다. (S2) 취득한 선박정보, 장애물정보, 및 목표점 정보에 근거하여 목표점 인력 포텐셜장과 최소한 한개 장애물의 배척력 포텐셜장이 있는 인공 포텐셜장을 구축한다. (S3) 상기 목표점 인력 포텐셜장과 최소한 한개 장애물의 배척력 포텐셜장을 합쳐서 첫째 합력을 취득한다. (S4) 상기 선박 정보 또는 장애물 정보에 근거하여 외부 작용력을 추가한다. (S5) 상기 첫째 합력과 외부 작용력을 합쳐서 둘째 합력을 취득한다. (S6) 상기 선박은 둘째 합력 방향에 근거하여 항행해서 상기 최소한 한개의 장애물을 회피한다.

    The present invention discloses a vessel collision avoiding system and method based on Artificial Potential Field algorithm, the method comprises the following steps: (S1) obtaining a vessel information, at least one obstacle information and a target information; (S2) establishing an Artificial Potential Field (APF) by the vessel information, the at least one obstacle information and the target information, wherein the Artificial Potential Field comprises an attractive field of the target and a repulsive field of the obstacle; (S3) combining the attractive field and the repulsive field to obtain a first resultant force; (S4) Adding an external force to the Artificial Potential Field based on the vessel information or the obstacle information; (S5) combining the first resultant force and the external force to obtain a second resultant force; and (S6) the vessel sails in the direction of the second resultant force to avoid the obstacle.


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    Title :

    vessel collision avoiding method and system based on Artificial Potential Field


    Additional title:

    인공 포텐셜장에 기반한 선박 충돌 회피 방법 및 시스템


    Publication date :

    2023-03-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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