Ship collision avoidance method and system based on the artificial potential field method

摘要

PROBLEM TO BE SOLVED: To provide a ship collision avoidance method and a system based on an artificial potential field method. SOLUTION: A ship collision avoidance method based on an artificial potential field method according to an embodiment of the present invention includes (S1) a step of acquiring ship information, at least one obstacle information and a target location information, and (S2) the ship information. , A step of establishing an artificial potential field including an attractive potential field of a target site and a repulsive potential field of at least one obstacle based on the obstacle information and the target site information, (S3) an attractive potential field of the target site. And the step of synthesizing the repulsive potential field of at least one obstacle to obtain the first resultant force, (S4) the step of applying an external force based on the ship information or the obstacle information, (S5) the first step. The step includes a step of combining the resultant force and the external force to obtain a second resultant force, and (S6) a step of the ship navigating in the direction of the second resultant force to avoid the at least one obstacle. [Selection diagram] Fig. 1