Encircling path planning method based on improved artificial potential field method

Abstract

The invention provides a hunting path planning method based on an improved artificial potential field method, and the method comprises the steps: generating a hunting reference point according to the real-time motion data of a target boat; constructing an artificial potential field resultant force including a surrounding reference point gravitational force, an inter-boat collision avoidance repulsive force and a target safety area repulsive force, and introducing an adaptive gain and weight adjustment mechanism; the resultant force of the artificial potential field is mapped into the unmanned ship control quantity, the resultant force direction is mapped into the course, the resultant force amplitude is mapped into the speed, and a control instruction is generated by combining the speed and steering constraint of the unmanned ship; the repulsive force weight of the safety area is dynamically adjusted according to the distance between the hunting boat and the boundary of the target safety area, so that the hunting boat keeps the approximation ability in the long-distance stage, and the safety constraint is enhanced in the short-distance stage; and updating the hunting reference point, the potential field resultant force and the control output in real time, and judging that hunting is stopped according to whether the hunting boat meets the region arrival condition or not. According to the method, the unreachable problem caused by the local minimum value is effectively restrained, collision avoidance of multiple boats is considered, and path oscillation is reduced.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel cooperative control and motion planning technology, and more particularly to a method for encirclement path planning based on an improved artificial potential field method, for real-time path planning, obstacle avoidance and cooperative convergence control of multiple surface unmanned surface vessels under dynamic target and vessel swarm interaction. Background Technology

[0002] With the rapid development of marine technology, unmanned surface vessels (USVs) have been widely used in marine monitoring, maritime search and rescue, and sea patrol. Encirclement and capture missions, as a typical scenario of multi-USV collaborative operations, aim to continuously approach and spatially constrain a moving target within waterways, thereby shrinking the target's movement space and ultimately restricting or capturing it. During the encirclement and capture process, path planning must simultaneously meet real-time requirements, stability, and safety. It must ensure rapid convergence of multiple USVs while avoiding collisions that could lead to the failure of the encirclement formation. Furthermore, it must also meet requirements such as maintaining safe distances.

[0003] Artificial potential field method is widely used due to its low computational cost, ease of implementation, and ability to naturally integrate target guidance and obstacle avoidance. In encirclement scenarios, the target or encirclement reference point is usually regarded as the gravitational source, and obstacles and other encirclement boats are regarded as the repulsive source. The direction of motion and velocity are generated by the resultant force, thereby realizing the coordinated approach of multiple boats to the target.

[0004] However, the traditional artificial potential field method still has certain shortcomings in multi-unmanned surface vessel (USV) encirclement scenarios. It is prone to local minima, causing USVs to stagnate, detour, or wander before reaching the reference point. During the simultaneous convergence of multiple USVs, mutual interference can easily lead to heading sway, speed fluctuations, and positioning conflicts, affecting formation closure. In the terminal phase, overshoot and close-range oscillations can also occur, reducing the stability of the encirclement. Furthermore, since the parameters of the traditional artificial potential field method are usually fixed, it is difficult to adapt to the needs of different stages in the encirclement process.

[0005] Therefore, it is necessary to design an improved artificial potential field method for multi-unmanned vessel encirclement scenarios. While maintaining real-time performance, this method can effectively suppress the inaccessibility problem caused by local minima, take into account collision avoidance among multiple vessels, reduce path oscillations, and achieve safe and stable collaborative encirclement convergence, thereby improving the success rate and efficiency of the encirclement mission. Summary of the Invention

[0006] To address the aforementioned technical problems of traditional artificial potential field methods in multi-UAV encirclement scenarios, which are prone to local minima leading to UAV stagnation, detours, or hovering; mutual interference during simultaneous convergence causing heading sway, speed fluctuations, and positioning conflicts; overshoot and close-range oscillations in the final stage; and the inability of fixed parameters to adapt to the needs of different stages of the encirclement process, this invention provides an improved encirclement path planning method based on the artificial potential field method. This invention achieves real-time path planning, collaborative convergence, and safe obstacle avoidance in multi-UAV encirclement tasks by constructing a multi-source composite potential field and introducing adaptive gain and weight adjustment mechanisms, thereby improving encirclement efficiency and success rate.

[0007] The technical means employed in this invention are as follows:

[0008] A method for planning a capture path based on an improved artificial potential field method includes: S1. Based on the real-time motion data of the target vessel, calculate the motion on a circle centered on the target vessel. N A uniformly distributed encirclement reference point; S2. Based on the aforementioned encirclement reference point, construct an artificial potential force that includes the gravity of the encirclement reference point, the collision avoidance repulsion between boats, and the repulsion of the target safety zone, and introduce an adaptive gain and weight adjustment mechanism. S3. Map the artificial potential field force into unmanned surface vessel control quantity, map the resultant force direction into heading, map the resultant force amplitude into speed, and generate control commands by combining the unmanned surface vessel speed and steering constraints. S4. Dynamically adjust the repulsive force weight of the safety zone based on the distance between the encirclement vessel and the boundary of the target safety zone, so that the encirclement vessel can maintain its approach capability at long distances and enhance safety constraints at close distances. S5. Execute steps S1 to S4 in a preset control cycle, update the encirclement reference point, potential force and control output in real time, and determine the termination of the encirclement based on whether the encirclement boat meets the area arrival conditions.

[0009] Further, step S1 includes: S11. Acquire real-time motion data of the target vessel, including its position, heading, and speed; S12, at the target vessel's location The surrounding construction radius is The reference circle; S13, Generate on the reference circumference N A uniformly distributed reference point Calculate the first The coordinates of the encirclement reference points are given by the following formula:

[0010] in, As a reference radius, NThis represents the number of reference points.

[0011] Further, step S2 includes: S21. A unified two-dimensional plane coordinate system is adopted, and position, velocity, and force are all two-dimensional vectors, represented as follows: ,distance As a scalar, it is calculated using the Euclidean norm, for any two points and The distance between them is defined as:

[0012] S22, Constructing a Encirclement Boat The artificial potential field forces acting on it are as follows:

[0013] in, For gravitational weight, For the encirclement boat The gravitational vector pointing to its assigned reference point. For repulsive force weight, For the first Ship and the Repulsive forces between the fishing boats For the repulsive force weight of the safe zone, For the encirclement boat The repulsive force in the safe zone.

[0014] Furthermore, the encirclement boat Gravitational vector pointing to its assigned reference point Defined as:

[0015] in, This is the gravitational gain coefficient. For the first The current coordinates of the fishing boat This represents the displacement vector from the current position of the encirclement boat to the encirclement reference point; to avoid the encirclement boat... When approaching the reference point, the excessive gravity causes frequent fine-tuning or overshoot, which affects... Implement upper limit truncation, or appropriately reduce it during close-range phases. .

[0016] Furthermore, the first Ship and the Repulsion between the fishing boats The construction process includes: Set minimum distance threshold This is used to prevent numerical divergence when the denominator is too small or zero. Let the first Ship and the The distance between the fishing boats is ; when hour ,when At that time, the first Ship and the Repulsion between the fishing boats Defined as:

[0017] in, The distance at which the repulsive force acts. The repulsive force gain is used to prevent multiple boats from following each other in a line. To avoid multiple boats forming a trailing pattern during the encirclement process, the repulsive force gain is increased when their velocities are similar and their distances are close. Alternatively, the direction of the repulsive force can be adjusted to enhance the lateral separation capability.

[0018] Furthermore, the encirclement boat safe zone repulsion The construction process includes: Let the target location be The radius of the safe zone is ,make ; when hour, ,when At that time, the encirclement boat safe zone repulsion Defined as:

[0019] in, The scope of the safety zone, This is to increase the repulsive force in the safe zone; this repulsive force term prevents the encirclement vessel from getting too close to the target in the final stage, thereby ensuring the safety and stability of the encirclement process.

[0020] Further, step S3 includes: S31, Deploy encirclement boats The force exerted by the artificial potential field is ; S32, the encirclement boat The force exerted by the artificial potential field is converted into a heading angle. ,as follows:

[0021] S33, the encirclement boat The magnitude of the force under artificial potential is mapped to velocity. ,as follows:

[0022] in, Based on speed, For velocity mapping gain coefficient, The maximum speed limit is defined as the cutoff function. .

[0023] Further, step S4 includes: S41, when Entering the safe zone's influence area At the same time, increase the repulsive force weight of the safe zone. ; S42. Adjust the repulsion weight of the safety zone using a distance-based linear or truncation method. :

[0024] in, Let these be the initial weights of the potential field in the safe zone. The gain coefficient is adjusted for the weight of the safe zone.

[0025] Further, step S5 includes: S51, to control the cycle Steps S1 to S4 are executed repeatedly. In each cycle, the status of the target vessel and the encirclement vessel are updated, the reference point and potential force are updated, and control commands are output. ; S52. To reduce frequent fine-tuning caused by point-to-point accuracy of the terminal, point-to-point arrival is transformed into area-to-area arrival. The target for capture is defined as a target centered on a reference point with a radius of [missing information]. The circular area is considered the target area when the encirclement boat enters it; S53. The conditions for determining the region are set as follows:

[0026] in, For the first Current location of the fishing boat Assign a reference point center to it; S54. When all the encirclement boats meet the set area arrival judgment conditions and maintain a stable formation or meet the preset termination conditions, the encirclement process ends.

[0027] Compared with the prior art, the present invention has the following advantages: 1. This invention adopts a unified modeling method for multi-source composite potential fields. Through the coordinated design of the gravity of the encirclement reference point, the collision avoidance repulsion force between boats, and the repulsion force of the target safety zone, it realizes the unified control of real-time path planning, collaborative convergence, and safe obstacle avoidance of multiple unmanned surface vessels in dynamic target and boat group interaction environments.

[0028] 2. This invention designs an adaptive gain and weight adjustment mechanism. By combining it with a piecewise saturated gravity design and a dynamic safe zone repulsion weight adjustment strategy, it achieves an adaptive switching between long-distance rapid approximation and short-distance smooth convergence, effectively suppressing the unreachability problem caused by local minima and the overshoot oscillation in the terminal stage.

[0029] 3. This invention adopts a joint modeling method of distance repulsion and velocity direction repulsion. By combining it with the inter-ship distance threshold determination and velocity direction correlation adjustment strategy, it realizes the course stability control and position conflict resolution during the simultaneous convergence process of multiple ships, and significantly reduces the risks of path crossing, tailing and collision.

[0030] 4. The present invention adopts the "regional arrival" termination determination strategy. By replacing the traditional point-to-point determination with the circular region determination condition, it achieves the technical effects of reducing the frequency of terminal fine-tuning, improving the stability of encirclement and capture and the ability to maintain formation.

[0031] In summary, the technical solution of this invention overcomes the shortcomings of existing technologies, such as the difficulty in adapting fixed parameters of the artificial potential field method to the needs of different stages of the encirclement, the tendency to generate local minima leading to stagnation and hesitation, mutual interference between multiple vessels causing course swaying and positioning conflicts, and overshoot and close-range oscillations in the terminal stage. These shortcomings are addressed through innovations such as multi-source composite potential field construction, adaptive gain adjustment, joint repulsive force modeling, and regional arrival determination. Therefore, the technical solution of this invention solves the problem of simultaneously achieving real-time performance, stability, and security in the encirclement path planning of existing technologies.

[0032] Based on the above reasons, this invention can be widely applied in fields such as unmanned surface vessel collaborative control, marine monitoring, maritime search and rescue, sea patrol, and multi-agent encirclement operations. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart of the method of the present invention.

[0035] Figure 2The capture trajectory diagram provided for an embodiment of the present invention. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product or device.

[0038] like Figure 1 As shown, this invention provides a method for planning a capture path based on an improved artificial potential field method, comprising: S1. Based on the real-time motion data of the target vessel, calculate the motion on a circle centered on the target vessel. N A uniformly distributed encirclement reference point, which serves as the attraction target for the subsequent artificial potential field gravitational term; S2. Based on the aforementioned encirclement reference point, construct an artificial potential force that includes the gravity of the encirclement reference point, the collision avoidance repulsion between boats, and the repulsion of the target safety zone, and introduce an adaptive gain and weight adjustment mechanism. S3. Map the artificial potential field force into unmanned surface vessel control quantity, map the resultant force direction into heading, map the resultant force amplitude into speed, and generate control commands by combining the unmanned surface vessel speed and steering constraints. S4. Dynamically adjust the repulsive force weight of the safety zone based on the distance between the encirclement vessel and the boundary of the target safety zone, so that the encirclement vessel can maintain its approach capability at long distances and enhance safety constraints at close distances. S5. Execute steps S1 to S4 in a preset control cycle, update the encirclement reference point, potential force and control output in real time, and determine the termination of the encirclement based on whether the encirclement boat meets the area arrival conditions.

[0039] In a specific implementation, as a preferred embodiment of the present invention, step S1 includes: S11. Acquire real-time motion data of the target vessel, including its position, heading, and speed; S12, at the target vessel's location The surrounding construction radius is The reference circle; S13, Generate on the reference circumference N A uniformly distributed reference point Calculate the first The coordinates of the encirclement reference points are given by the following formula:

[0040] in, As a reference radius, N This represents the number of reference points.

[0041] In a specific implementation, as a preferred embodiment of the present invention, step S2 includes: S21. A unified two-dimensional plane coordinate system is adopted, and position, velocity, and force are all two-dimensional vectors, represented as follows: ,distance As a scalar, it is calculated using the Euclidean norm, for any two points and The distance between them is defined as:

[0042] S22, Constructing a Encirclement Boat The artificial potential field forces acting on it are as follows:

[0043] in, For gravitational weight, For the encirclement boat The gravitational vector pointing to its assigned reference point. For repulsive force weight, For the first Ship and the Repulsive forces between the fishing boats For the repulsive force weight of the safe zone, For the encirclement boat The repulsive force within the safe zone. In this embodiment, the encirclement vessel needs to simultaneously satisfy the constraints of reference point convergence, collision avoidance between vessels, and target safety distance during the encirclement process. A single gravitational force is insufficient to achieve coordinated control. Therefore, this invention provides a unified model for the encirclement reference point gravity, the collision avoidance repulsive force between vessels, and the target safety zone repulsive force. Gravity guides the encirclement vessel towards the reference point, repulsion prevents collisions between vessels, and the safety zone repulsive force ensures a safe distance between the encirclement vessel and the target. Based on this, an artificial potential field force is constructed.

[0044] In specific implementation, as a preferred embodiment of the present invention, the encirclement boat Gravitational vector pointing to its assigned reference point Defined as:

[0045] in, This is the gravitational gain coefficient. For the first The current coordinates of the fishing boat This represents the displacement vector from the current position of the encirclement boat to the encirclement reference point; to avoid the encirclement boat... When approaching the reference point, the excessive gravity causes frequent fine-tuning or overshoot, which affects... Implement upper limit truncation, or appropriately reduce it during close-range phases. .

[0046] In specific implementation, as a preferred embodiment of the present invention, the first... Ship and the Repulsion between the fishing boats The construction process includes: Set minimum distance threshold This is used to prevent numerical divergence when the denominator is too small or zero. Let the first Ship and the The distance between the fishing boats is ; when hour ,when At that time, the first Ship and the Repulsion between the fishing boats Defined as:

[0047] in, The distance at which the repulsive force acts. The repulsive force gain is used to prevent multiple boats from following each other in a line. To avoid multiple boats forming a trailing pattern during the encirclement process, the repulsive force gain is increased when their velocities are similar and their distances are close. Alternatively, the direction of the repulsive force can be adjusted to enhance the lateral separation capability.

[0048] In specific implementation, as a preferred embodiment of the present invention, the encirclement boat safe zone repulsion The construction process includes: Let the target location be The radius of the safe zone is ,make ; when hour, ,when At that time, the encirclement boat safe zone repulsion Defined as:

[0049] in, The scope of the safety zone, This is to increase the repulsive force in the safe zone; this repulsive force term prevents the encirclement vessel from getting too close to the target in the final stage, thereby ensuring the safety and stability of the encirclement process.

[0050] In a specific implementation, as a preferred embodiment of the present invention, step S3 includes: S31, Deploy encirclement boats The force exerted by the artificial potential field is ; S32, Force vector in artificial potential field The course of the pursuit vessel has been determined. To facilitate the input of this directional information into the unmanned surface vessel controller, the pursuit vessel... The force exerted by the artificial potential field is converted into a heading angle. ,as follows:

[0051] S33, the encirclement boat The magnitude of the force under artificial potential is mapped to velocity. ,as follows:

[0052] in, Based on speed, For velocity mapping gain coefficient, The maximum speed limit is defined as the cutoff function. By using the above mapping method, the unmanned surface vessel's movement direction and speed can be adjusted in real time according to changes in the potential field, avoiding excessive speed or turning, thereby improving the smoothness and stability of the encirclement path execution.

[0053] In a specific implementation, as a preferred embodiment of the present invention, step S4 includes: S41, when Entering the safe zone's influence area At the same time, increase the repulsive force weight of the safe zone. ; S42. Adjust the repulsion weight of the safety zone using a distance-based linear or truncation method. :

[0054] in, Let be the initial weights of the potential field in the safe zone. The gain coefficient is adjusted for the weight of the safe zone.

[0055] In this embodiment, during the encirclement process, the constraint of the target safety zone gradually increases as the encirclement vessel approaches the target. Fixed weights are difficult to balance approach efficiency and safety. Therefore, this step dynamically adjusts the safety zone repulsion weight based on the distance between the encirclement vessel and the boundary of the target safety zone, so that the encirclement vessel maintains its approach capability at long distances and enhances safety constraints at close distances to avoid dangerous approaches.

[0056] In a specific implementation, as a preferred embodiment of the present invention, step S5 includes: S51, to control the cycle Repeat steps S1 to S4, referencing the example. Each cycle updates the status of the target vessel and the encirclement vessel, updates the reference point and potential force, and outputs control commands. ; S52. To reduce frequent fine-tuning caused by point-to-point accuracy of the terminal, point-to-point arrival is transformed into area-to-area arrival. The target for capture is defined as a target centered on a reference point with a radius of [missing information]. The circular area is considered the target area when the encirclement boat enters it; S53. The conditions for determining the region are set as follows:

[0057] in, For the first Current location of the fishing boat Assign a reference point center to it; S54. When all the encirclement boats meet the set area arrival judgment conditions and maintain a stable formation or meet the preset termination conditions, the encirclement process ends.

[0058] In this embodiment, since the target vessel and the states of each pursuing vessel are constantly changing, the pursuit path planning needs to be continuously updated within the control cycle. Therefore, this step executes steps S1 to S4 cyclically at a preset frequency, updating the pursuit reference point, potential field forces, and control output in real time, and dynamically adjusting the potential field weights and escape status according to the target's motion and the state of the vessel group, thereby achieving closed-loop pursuit control in a dynamic environment until the pursuit is completed or the mission termination conditions are met. Figure 2 The image shown is a map of the encirclement and capture trajectory.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for planning a capture path based on an improved artificial potential field method, characterized in that, include: S1. Based on the real-time motion data of the target vessel, calculate the motion on a circle centered on the target vessel. N A uniformly distributed encirclement reference point; S2. Based on the aforementioned encirclement reference point, construct an artificial potential force that includes the gravity of the encirclement reference point, the collision avoidance repulsion between boats, and the repulsion of the target safety zone, and introduce an adaptive gain and weight adjustment mechanism. S3. Map the artificial potential field force into unmanned surface vessel control quantity, map the resultant force direction into heading, map the resultant force amplitude into speed, and generate control commands by combining the unmanned surface vessel speed and steering constraints. S4. Dynamically adjust the repulsive force weight of the safety zone based on the distance between the encirclement vessel and the boundary of the target safety zone, so that the encirclement vessel can maintain its approach capability at long distances and enhance safety constraints at close distances. S5. Execute steps S1 to S4 in a preset control cycle, update the encirclement reference point, potential force and control output in real time, and determine the termination of the encirclement based on whether the encirclement boat meets the area arrival conditions.

2. The method for planning a capture path based on an improved artificial potential field method according to claim 1, characterized in that, Step S1 includes: S11. Acquire real-time motion data of the target vessel, including its position, heading, and speed; S12, at the target vessel's location The surrounding construction radius is The reference circle; S13, Generate on the reference circumference N A uniformly distributed reference point Calculate the first The coordinates of the encirclement reference points are given by the following formula: in, As a reference radius, N This represents the number of reference points.

3. The method for planning a capture path based on an improved artificial potential field method according to claim 1, characterized in that, Step S2 includes: S21. A unified two-dimensional plane coordinate system is adopted, and position, velocity, and force are all two-dimensional vectors, represented as follows: ,distance As a scalar, it is calculated using the Euclidean norm, for any two points and The distance between them is defined as: S22, Constructing a Encirclement Boat The artificial potential field forces acting on it are as follows: in, For gravitational weight, For the encirclement boat The gravitational vector pointing to its assigned reference point. For repulsive force weight, For the first Ship and the Repulsive forces between the fishing boats For the repulsive force weight of the safe zone, For the encirclement boat The repulsive force in the safe zone.

4. The method for planning a capture path based on an improved artificial potential field method according to claim 3, characterized in that, The fishing boat Gravitational vector pointing to its assigned reference point Defined as: in, This is the gravitational gain coefficient. For the first The current coordinates of the fishing boat This represents the displacement vector from the current position of the encirclement boat to the encirclement reference point; to avoid the encirclement boat... When approaching the reference point, the excessive gravity causes frequent fine-tuning or overshoot, which affects... Implement upper limit truncation, or appropriately reduce it during close-range phases. .

5. The method for planning a capture path based on an improved artificial potential field method according to claim 3, characterized in that, The first Ship and the Repulsion between the fishing boats The construction process includes: Set minimum distance threshold This is used to prevent numerical divergence when the denominator is too small or zero. Let the first Ship and the The distance between the fishing boats is ; when hour ,when At that time, the first Ship and the Repulsion between the fishing boats Defined as: in, The distance at which the repulsive force acts. The repulsive force gain is used to prevent multiple boats from following each other in a line. To avoid multiple boats forming a trailing pattern during the encirclement process, the repulsive force gain is increased when their velocities are similar and their distances are close. Alternatively, the direction of the repulsive force can be adjusted to enhance the lateral separation capability.

6. The method for planning a capture path based on an improved artificial potential field method according to claim 3, characterized in that, The fishing boat safe zone repulsion The construction process includes: Let the target location be The radius of the safe zone is ,make ; when hour, ,when At that time, the encirclement boat safe zone repulsion Defined as: in, The scope of the safety zone, This is to increase the repulsive force in the safe zone; this repulsive force term prevents the encirclement vessel from getting too close to the target in the final stage, thereby ensuring the safety and stability of the encirclement process.

7. The method for planning a capture path based on an improved artificial potential field method according to claim 1, characterized in that, Step S3 includes: S31, Deploy encirclement boats The force exerted by the artificial potential field is ; S32, the encirclement boat The force exerted by the artificial potential field is converted into a heading angle. ,as follows: S33, the encirclement boat The magnitude of the force under artificial potential is mapped to velocity. ,as follows: in, Based on speed, For velocity mapping gain coefficient, The maximum speed limit is defined as the cutoff function. .

8. The method for planning a capture path based on an improved artificial potential field method according to claim 1, characterized in that, Step S4 includes: S41, when Entering the safe zone's influence area At the same time, increase the repulsive force weight of the safe zone. ; S42. Adjust the repulsion weight of the safety zone using a distance-based linear or truncation method. : in, Let these be the initial weights of the potential field in the safe zone. The gain coefficient is adjusted for the weight of the safe zone.

9. The method for planning a capture path based on an improved artificial potential field method according to claim 1, characterized in that, Step S5 includes: S51, to control the cycle Steps S1 to S4 are executed repeatedly. In each cycle, the status of the target vessel and the encirclement vessel are updated, the reference point and potential force are updated, and control commands are output. ; S52. To reduce frequent fine-tuning caused by point-to-point accuracy of the terminal, point-to-point arrival is transformed into area-to-area arrival. The target for capture is defined as a target centered on a reference point with a radius of [missing information]. The circular area is considered the target area when the encirclement boat enters it; S53. The conditions for determining the region are set as follows: in, For the first Current location of the fishing boat Assign a reference point center to it; S54. When all the encirclement boats meet the set area arrival judgment conditions and maintain a stable formation or meet the preset termination conditions, the encirclement process ends.

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