Obstacle avoidance algorithm for ships in complex waters based on dynamic window approach

参数	数值	参数	数值
vmin /(m·s−1)	0	$ {\omega }_{\mathrm{m}\mathrm{a}\mathrm{x}} $/rad	$ {\text{π}}/6 $
vmax /(m·s−1)	10	$ \dot{\omega } $/(rad·s−1)	$ {\text{π}}/36 $
$ \dot{v} $/(m·s−2)	2	T	$ 0.2 $
$ {\omega }_{\mathrm{m}\mathrm{i}\mathrm{n}} $/rad	$ -{\text{π}}/6 $	Dx	$ 0.2 $

Table 2. Comparison of step sizes and time-consumption using the three algorithms in simulation
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Table 2. Comparison of step sizes and time-consumption using the three algorithms in simulation
算法步长/步运行耗时/s
Ⅰ 397 34.7
Ⅱ 345 30.4
Ⅲ 292 22.6

Table 3. Comparison of speed steepness using the three algorithms in simulation

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Table 3. Comparison of speed steepness using the three algorithms in simulation

算法	陡峭程度$ {\boldsymbol{\theta }}_{1} \left(\tan \left( \dfrac{{\Delta\boldsymbol{u}}_{1}}{{\Delta\boldsymbol{t}}_{1}} \right)\right)$	陡峭程度$ {\boldsymbol{\theta }}_{2} \left(\tan \left( \dfrac{\Delta {\boldsymbol{u}}_{2}}{\Delta {\boldsymbol{t}}_{2}} \right)\right)$
Ⅰ	0.003 75	0.001 94
Ⅱ	0.001 85	0.000 92
Ⅲ	0.001 97	0.000 58

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Guangze LI, Wanneng YU, Weiqiang LIAO, Chuanbo WU. Obstacle avoidance algorithm for ships in complex waters based on dynamic window approach[J]. Chinese Journal of Ship Research, 2024, 19(1): 230

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