An Engineering Approach for Obstacle Avoidance Path Planning of Unmanned Vessel Based on Optimized Artificial Potential Field

ZHANG Yabo; WANG Hongrui; ZHANG Haiyan; XIAO Qiang; LIU Yuxin

doi:10.11993/j.issn.2096-3920.2025-0030

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > Accepted Manuscript

ZHANG Yabo, WANG Hongrui, ZHANG Haiyan, XIAO Qiang, LIU Yuxin. An Engineering Approach for Obstacle Avoidance Path Planning of Unmanned Vessel Based on Optimized Artificial Potential Field[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0030

Citation:

ZHANG Yabo, WANG Hongrui, ZHANG Haiyan, XIAO Qiang, LIU Yuxin. An Engineering Approach for Obstacle Avoidance Path Planning of Unmanned Vessel Based on Optimized Artificial Potential Field[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0030

Citation:

ZHANG Yabo, WANG Hongrui, ZHANG Haiyan, XIAO Qiang, LIU Yuxin. An Engineering Approach for Obstacle Avoidance Path Planning of Unmanned Vessel Based on Optimized Artificial Potential Field[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0030

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An Engineering Approach for Obstacle Avoidance Path Planning of Unmanned Vessel Based on Optimized Artificial Potential Field

doi: 10.11993/j.issn.2096-3920.2025-0030

Beijing Institute of Space Launch Technology, Beijing 100076, China

Received Date: 2025-02-24
Accepted Date: 2025-03-26
Rev Recd Date: 2025-03-23

Available Online: 2025-07-14

Abstract

Abstract

Aiming at the local path planning problem of obstacle avoidance for unmanned surface vessel, relying on the artificial potential field framework, a local path planning method for obstacle avoidance based on the dynamic construction of the water surface situation in longitude and latitude coordinates is proposed. Initially, the basic operations in the longitude and latitude coordinate system are sorted out and organized, and then the forms of the gravitational and repulsive force functions of the traditional potential function method are derived. The problems existing in the traditional potential function method and its improved methods, such as the difficulty in determining the virtual target point in the project and the inability to accurately predict the trajectory of the controlled object, are expounded. An improved potential function local path planning algorithm relying on the dynamic construction of the water surface situation is designed. Finally, the designed method is verified by simulation and sea trials. The simulation and test results show that the proposed engineering method of obstacle avoidance path planning can guide the unmanned surface vessel to complete the obstacle avoidance task, and has strong reliability and robustness.
- unmanned surface vessel,
- path planning,
- collision avoidance,
- engineering approach

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References(19)

References

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