A dynamic path planning method for unmanned autonomous ship collision avoidance with velocity potential field is proposed, which solves the problem that the artificial potential field method constructed with distance as an element cannot make the moving body actively redirect to avoid collision. In the artificial potential field, the relative speed between the unmanned ship and the obstacle, and the relative speed between the unmanned ship and the target point are integrated into the potential field, and the distance-speed potential field model is constructed. Adding the velocity potential field to the repulsion potential field can enable the unmanned autonomous ship to actively alter its course to the left or right to avoid collision; adding the velocity potential field to the attractive potential field can enable the unmanned autonomous ship to adjust the speed. The method is applied to the dynamic path planning experiment of unmanned autonomous ship collision avoidance in complex and changeable waters where dynamic and static obstacles coexist. The results show that unmanned autonomous ships can quickly avoid obstacles by actively altering her course, and the algorithm conforms to the actual collision avoidance engineering.

Dawei Chen, Renqiang Wang, Jianming Sun, Changhua Liu. Collision avoidance path planning for unmanned autonomous ships in complex waters. Academic Journal of Mathematical Sciences (2024) Vol. 5, Issue 3: 23-30. https://doi.org/10.25236/AJMS.2024.050304.

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