Ship Collision Avoidance Path Planning Based on Dynamic Domain Potential Field
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摘要: 针对传统人工势场避碰路径规划在避让距离和避碰时机方面的局限性, 提出一种基于改进人工势场法的动态船舶避碰路径规划方法。采用四元安全领域改进了人工势场中固定的障碍物斥力作用范围, 构建一种根据船速动态调整的避让领域范围来代替固定阈值的障碍物斥力势场范围, 实现避让距离由静转动;提出一种设定半径自适应的子目标设定方法, 并且加入可变调整角, 以调整子目标点与障碍物的距离, 从而解决避碰大型障碍物时出现的局部最小值和路径抖动问题。改进后算法可根据不同船速构建自适应的避让领域, 实现船舶避让距离的动态调整, 在保证安全的前提下减少因过于保守的避让距离带来的不必要的碰撞威胁和避碰行为, 在速度为1 m/s时, 动态领域势场法相对于障碍物斥力势场范围分别为100、200 m的传统人工势场法分别节省航程的8%和9%。通过真实海图仿真试验验证了所提避碰路径规划算法的可行性, 能够实现在有大型障碍物的复杂场景中船舶的安全避碰路径规划。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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图 1 人工势场避碰路径规划示意图
Figure 1. Artificial potential field collision avoidance path planning
图 7 传统人工势场避碰路径仿真结果
Figure 7. Simulation results of collision avoidance path of traditional artificial potential field
图 8 基于动态领域改进的人工势场法仿真结果
Figure 8. Simulation results of improved artificial potential field method based on dynamic domain
图 9 不同速度下避碰试验路径对比
Figure 9. Comparison of collision avoidance paths at different speeds
图 10 不同速度下避碰试验航程比较
Figure 10. Comparison of collision avoidance voyages at different speeds
图 11 真实海图环境船舶避碰路径规划仿真结果
Figure 11. Simulation results of ship collision avoidance path planning in real chart environment
图 12 采取子目标点法的真实海图环境仿真结果
Figure 12. Simulation results of real chart environment with sub-target point method
图 13 优化后的真实海图环境仿真结果
Figure 13. Real chart environment simulation results after optimization
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