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Apr 26, 2012
Autonomous Collision Avoidance for Ships using APF Method
Publication: International Conference on Transportation Engineering 2007
Abstract
Autonomous collision avoidance research for ships has been one of important research topics in the field of transportation. Artificial potential field (APF) method is widely used for path planning of mobile robots, due to its elegant mathematical analysis and simplicity. This method is especially suitable for 2-D low-speed systems. This paper proposes an improved APF method to realize the autonomous collision avoidance for ships. A novel APF model for ship collision avoidance is defined, and the velocity and maneuvering behavior of ship are introduced to the corresponding virtual force functions. The problem of local minima is addressed and solutions are presented.
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© 2007 American Society of Civil Engineers.
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Published online: Apr 26, 2012
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Merchant Marine College, Shanghai Maritime University 1550 Pudong Ave., Shanghai, P.R.China, 200135. E-mail: [email protected]
Merchant Marine College, Shanghai Maritime University 1550 Pudong Ave., Shanghai, P.R.China, 200135. E-mail: [email protected]
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