基于虚拟力场法的船舶避障功能的实现

摘要

In order to solve the problem of obstacle avoidance to mobile ship shipping in Sea-route, this paper applied virtual force field to making a model of obstacle avoidance, described the relationship about virtual gravitation and virtual repulsion, which was between target and obstacle, exerted "Move_to_goal"and "Avoid_obstacle" behavior design, implemented the changes from the ship motion coordinates to the control volume, then derived ship obstacle avoidance algorithm process, so that ships can avoid the obstacles in real-time to reach the final target points. Test showed the ship can avoid obstacle in changeful circumstance.%为了实现船舶的避障,应用虚拟力场法建立了避障模型,描述了目标点的虚拟引力和障碍物的虚拟斥力之间的关系,运用Move_to_goal和Avoid_obstacle行为设计,实现了从船舶运动坐标值到控制量的转变,从而导出船舶避障实现算法流程,使船舶能够实时地避开障碍最后到达目标点.结果证明,船舶能够在多变的周边环境中实现避障功能.