Vessel Collision Avoidance Using Dynamic Artificial Potential Fields
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing vessel collision avoidance systems face challenges with endless loop movements and failure to escape obstacles due to strong repulsive forces, particularly in marine environments where braking systems are lacking, limiting the applicability of the Artificial Potential Field Method.
Innovation Solution
A vessel collision avoiding method and system based on the Artificial Potential Field algorithm, which combines attractive and repulsive fields with an external force to guide vessels around obstacles, distinguishing between static and dynamic obstacles and adjusting forces based on relative speeds and distances to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the Artificial Potential Field Method is used for vessel collision avoidance, then the model simplicity and calculation convenience are improved, but the vessel may enter endless loop movements or fail to escape from moving obstacles
Solution Approach 1:
The patent dynamically adjusts the repulsive force parameters based on the relative speed between vessel and obstacle. When relative speed exceeds a threshold, the repulsive force coefficient is increased to prevent endless loop movements. This parameter adaptation resolves the contradiction by making the calculation conventionally simple while ensuring reliable collision avoidance through conditional parameter modification.
Solution Approach 2:
The patent introduces dynamic adjustment of the repulsive force coefficient based on real-time relative speed conditions. The system transitions from a static potential field model to a dynamic one where the repulsive force coefficient varies with the vessel-obstacle relative speed, enabling the system to adapt to changing conditions and prevent endless loop movements while maintaining computational efficiency.
2Force
If the repulsive force generated by the obstacle is increased to strengthen avoidance, then the obstacle avoidance capability is improved, but the vessel may fail to escape when the force is too strong or directionally aligned
Solution Approach 1:
The patent makes the repulsive force coefficient dynamic by adjusting it according to the relative speed between vessel and obstacle. When relative speed is high, the coefficient is increased to provide stronger avoidance force; when relative speed is low, the coefficient is reduced to prevent excessive force that could cause escape failure. This dynamic adjustment resolves the contradiction between strong avoidance capability and escape capability.
Solution Approach 2:
The patent changes the repulsive force coefficient parameter based on relative speed conditions. By setting different coefficient values according to whether the relative speed exceeds a threshold, the system optimizes the repulsive force magnitude to balance obstacle avoidance strength with the ability to escape from moving obstacles, preventing both insufficient avoidance and excessive force problems.
Data Source
AI summary
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.