Chinese Journal of Ship Research, Volume. 18, Issue 1, 78(2023)
Obstacle avoidance of unmanned ship swarm based on virtual navigator and improved Hooke's law
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Table 1. Initialization parameters for simulation
View tableView in ArticleTable 1. Initialization parameters for simulation
参数 数值 参数 数值 ${{\boldsymbol{v}}_{ {\rm{max} } } }$ /(m·s−1)14.9 ${R_{{\rm{smin}}}}$ /m1.5 ${{\boldsymbol{v}}_{ {\rm{min} } } }$ /(m·s−1)0.1 ${p_1}$ 18 ${{\boldsymbol{v}}_0}$ /(m·s−1)−2.5 ${p_2}$ 2 ${\mu _1}$ 1.1 e/m 2 ${\mu _2}$ 1.2 ${r_{\rm{s}}}$ /m1 ${\boldsymbol\tau _{ {\rm{e} }{ {u} } } }$ 1 ${\boldsymbol\tau _{ {\rm{e} }{ {v} } } }$ 0 $\varepsilon $ 1 ${\boldsymbol\tau _{ {\rm{e} }{ {r} } } }$ 0 ${{\boldsymbol{a}}_{\max } }$ /(m·s−2)2 $w$ 0.2 $\lambda $ 0.5 ${d_{{\rm{rec}}} }$ /m100 $q$ 0.05 $\vartheta $ 1.99
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Bingcheng YAN, Le CAO. Obstacle avoidance of unmanned ship swarm based on virtual navigator and improved Hooke's law[J]. Chinese Journal of Ship Research, 2023, 18(1): 78
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Received: May. 11, 2021
Accepted: --
Published Online: Mar. 18, 2025
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