Ship local path planning method based on three-dimensional potential field model

Table 1. Settings for simulation parameters
View table
View in Article
Table 1. Settings for simulation parameters
参数数值参数数值
m/t 2 000 $ {k_2} $ 100
$ \alpha $ 1.566×10−16 K 1
$ \gamma $ 0.334 5 $ \beta $ 6.667
$ {T_i} $ 1 $ N_{\mathrm{p}} $ 4
$ {k_1} $ 1.5 $ {\delta _{\max }} $/(°) 35

Table 2. Motion model parameters K-T for the ship
View table
View in Article
Table 2. Motion model parameters K-T for the ship
参数数值
$ T_1/\mathrm{s} $ 11.454 0
$ T_2/\mathrm{s} $ 5.199 2
$ T_3/\mathrm{s} $ 3.838 2
$ K/\mathrm{s}^{-1} $ 0.116 5

Table 3. Comparison of simulation results for single-ship encounter scenario
View table
View in Article
Table 3. Comparison of simulation results for single-ship encounter scenario
方法最大转向角度/(°) 平均舵幅/(°) 路径长度/n mile 曲线平滑度/rad
传统人工势场 34.283 1.617 2.105 0.012
改进人工势场 43.381 1.292 2.232 0.010
三维势场 21.890 1.251 2.205 0.008

Table 4. Comparison of simulation results for single-ship crossing encounter scenario
View table
View in Article
Table 4. Comparison of simulation results for single-ship crossing encounter scenario
方法最大转向角度/(°) 平均舵幅/(°) 路径长度/n mile 曲线平滑度/rad
传统人工势场 24.715 2.937 1.428 0.830
改进人工势场 34.515 8.174 1.517 0.737
三维势场 23.346 1.781 1.432 0.659

Table 5. Comparison of simulation results for multi-ship encounter scenario
View table
View in Article
Table 5. Comparison of simulation results for multi-ship encounter scenario
方法最大转向角度/(°) 平均舵幅/(°) 路径长度/n mile 曲线平滑度/rad
传统人工势场 42.556 9.498 2.042 0.977
改进人工势场 28.725 5.751 2.047 0.685
三维势场 17.330 3.307 1.939 0.639

Tools

Get Citation

Copy Citation Text

Qunpeng WANG, Longhao LI, Hongxu GUAN, Jialun LIU, Jianzhe CAI, Zhengrong SHA, Jinshui ZHANG. Ship local path planning method based on three-dimensional potential field model[J]. Chinese Journal of Ship Research, 2025, 20(1): 135

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites