An Efficient Ship Automatic Collision Avoidance Method Based on Modified Artificial Potential Field

Zhu, Zhongxian; Lyu, Hongguang; Zhang, Jundong; Yin, Yixin

doi:10.3390/jmse10010003

Cited by 25 publications

(6 citation statements)

References 25 publications

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“…Based on the work of Lyu and Yin [17], [23], we realized a multi-ship CA algorithm by modifying the repulsive force model in the APF method from the perspective of navigation and used the distance at closest point of approach-time to closest point of approach (DCPA-TCPA) criterion as the unique adjustable parameter [46].…”

Section: A Modified Apf Methodsmentioning

confidence: 99%

Environment Potential Field Modeling for Ship Automatic Collision Avoidance in Restricted Waters

et al. 2022

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The accurate environment potential field (EPF) modeling method and highly efficient collision avoidance (CA) approach are key technologies for maritime autonomous surface ships (MASS). A novel and accurate environment potential field (EPF) model is proposed using electronic navigation chart (ENC) face objects to describe different types of navigable and non-navigable areas, and an improved artificial potential field (APF) method is presented to realize collaborative CA and obstacle avoidance (OA). Implicit equations of complex-shaped face objects were constructed based on R-function theory, and the discrete-convex hull method was introduced to realize automatic EPF modeling. Collaborative CA and OA experiments in restricted waters were conducted on a ship handling simulator. The results show that the improved APF method can obtain a robust and deterministic collision-free path under different weather conditions and in restricted waters, and the track zone width remains within 0.1 nm. The proposed face object EPF model is efficient and accurate, even with numerous vertices and complex shapes, and can drive the ship apart at a relatively safe distance in accordance with the recommended CA parameter. We present a practical CA approach and an effective EPF modeling method for APF-based ship path planning.

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Section: A Modified Apf Methodsmentioning

confidence: 99%

Environment Potential Field Modeling for Ship Automatic Collision Avoidance in Restricted Waters

et al. 2022

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“…It is assumed in this algorithm that there is a field made up of two fundamental forces: attraction and repulsion [30], [31]. The robot is dragged towards the target at the target point via force, and the strength of repulsion is the other force.…”

Section: Artificial Potential Field Approachmentioning

confidence: 99%

Expansion of high-voltage overhead transmission lines to remote areas

Al‐Kharsan

Al-khaykan

Fakhruldeen

2022

IJPEDS

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<span>Delivering electrical energy to remote areas is one of the essential things in our modern world. Choosing the optimal route is one of the most critical factors contributing to reducing the power transmission system's cost. Other influencing factors such as the optimum alloy of the conductor wires are difficult to change, so only the aforementioned factor was adopted. In this paper, the optimized potential field algorithm is employed to determine the sub-optimum path that the transmission line should be installed. The best line for the towers is not necessarily the shortest or the cheapest one. Sometimes the best locations for the towers of the transmission lines coming according to the safety regards. It can be said that the best trajectory is a combination of several factors, including the length of the track in addition to other influencing factors depending on the work environment.</span>

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“…The artificial potential field method is widely used because of its simple structure and fast calculation [1,2] . Zhu [3] proposed a multi-ship collision avoidance algorithm based on the COLREGS and ship motion characteristics. Lyu [4] proposed a realtime deterministic path planning method for autonomous ships in a complex dynamic navigation environment, which improved the traditional APF method to ensure that ships make collision avoidance decisions under the COLREGS.…”

Section: Introductionmentioning

confidence: 99%

Autonomous collision avoidance method based on improved artificial potential field in the traffic separation scheme waters

Guo,

Lyu,

Liu

et al. 2024

Seventh International Conference on Traffic Engineering and Transportation System (ICTETS 2023)

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In order to realize the autonomous navigation of ships in the complex waters under the traffic separation system (TSS), taking the Chengshanjiao TSS waters as an example, an improved autonomous collision avoidance algorithm is proposed based on the artificial potential field (APF) method. By establishing five kinds of potential fields and their force functions, including the gravitational function of the goal point, the repulsion function of the target ships (TS), the gravitational function of the centerline of the traffic lane, the velocity function of the ship, and the boundary repulsion function of the navigation lane, finally the resultant force of them is calculated to guide the navigation direction of the ship, during the navigation process in this TSS water. Multiple groups of comparative experiments demonstrated that under the improved algorithm, the ship could avoid collisions with TS in four typical scenarios, according to the requirements of the 1972 International Regulations for Preventing Collisions at Sea (COLREGS) and good seamanship practice, simultaneously the ship could proceed in the navigable lane and keep safe distance with the boundaries and separation zones. The method proposed in this paper is expected to provide basic theoretical basis and technical support for the safe navigation of autonomous ships in TSS waters.

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An Efficient Ship Automatic Collision Avoidance Method Based on Modified Artificial Potential Field

Cited by 25 publications

References 25 publications

Environment Potential Field Modeling for Ship Automatic Collision Avoidance in Restricted Waters

Environment Potential Field Modeling for Ship Automatic Collision Avoidance in Restricted Waters

Expansion of high-voltage overhead transmission lines to remote areas

Autonomous collision avoidance method based on improved artificial potential field in the traffic separation scheme waters

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