摘要
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。
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.
出处
《舰船科学技术》
2009年第7期99-102,共4页
Ship Science and Technology
关键词
力场
船舶
避障
实现
force field
ship
obstacle avoidance
implement
