Ship intelligent obstacle avoidance method and system based on artificial potential field

An intelligent obstacle avoidance and artificial potential field technology, applied in two-dimensional position/channel control and other directions, can solve problems such as weak practicability and infinite robot loop, and achieve the effect of reducing the probability of collision and reducing traffic accidents.

Inactive Publication Date: 2018-01-19
WUHAN UNIV OF TECH
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Problems solved by technology

However, there will be many shortcomings in practical applications. For example, in the factory, robots often have an infinite loop, forcing people to give it an unnecessary

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  • Ship intelligent obstacle avoidance method and system based on artificial potential field
  • Ship intelligent obstacle avoidance method and system based on artificial potential field
  • Ship intelligent obstacle avoidance method and system based on artificial potential field

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with specific examples and accompanying drawings.

[0047] The present invention provides a ship intelligent obstacle avoidance system based on artificial potential field, such as figure 2 As shown, it includes: a ship-borne information collection platform and a shore-based information collection platform, which are used to collect parameters required for intelligent obstacle avoidance. The shipborne information collection platform includes an image collector, a gyrocompass direction finder, an attitude sensor and a multi-beam forward-looking sonar system. The shore-based information collection platform includes a differential GPS system, an X-band shore-based radar, an AIS base station and a mobile terminal speedometer; a differential GPS terminal matching the differential GPS system is provided on the ship. The information fusion server is used to receive the parameters collected by the shipborne i...

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Abstract

The invention provides a ship intelligent obstacle avoidance method based on an artificial potential field. The method comprises a step of collecting ship information, inland waterway information andobstacle information in real time, a step of establishing an inland waterway coordinate system based on the collected information and establishing a waterway boundary repulsion potential field model and an obstacle repulsion potential field model based on an artificial potential field method, a step of establishing a balance equation according to composite field effect formed by superposing a waterway boundary repulsion potential field and an obstacle repulsion potential field borne by a ship during the processing of navigation, carrying out solution to obtain position points which the ship isabout to pass in intelligent obstacle avoidance, and fitting the position points to obtain an obstacle avoidance route, and a step of controlling the heading and speed of the ship according to the obstacle avoidance route. According to the method and the system, a practical support is further provided for the realization of the ship intelligent obstacle avoidance, and the probability of collisionwith an obstacle is greatly reduced.

Description

technical field [0001] The invention belongs to the field of ship information intelligent perception and automatic control, and in particular relates to a ship intelligent obstacle avoidance method and system based on an artificial potential field. Background technique [0002] Ship collision risk prediction and obstacle avoidance research is a difficult and hot topic in the field of ship research, which includes sensing channel information through multiple channels, mining the characteristic behavior of ships under different situation models based on multiple algorithms, and then driving through real-time data fusion. The ship itself realizes obstacle avoidance. [0003] In recent years, the artificial potential field method has been widely used in the path planning of mobile agents because of its simple model and convenient calculation. The repulsive fields of are superimposed on each other to form a compound potential field for the mobile agent. However, there are many ...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 吴青程婷婷马枫王鹏
Owner WUHAN UNIV OF TECH
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