舰船电子工程2025，Vol.45Issue(4)：56-60,115,6.DOI:10.3969/j.issn.1672-9730.2025.04.013
基于改进人工势场的无人船路径规划
Path Planning for Unmanned Surface Vessel Based on Improved Artificial Potential Field
黄羽韬 1贾兆巍 1刘梦佳2
作者信息
- 1. 武汉数字工程研究所 武汉 430205
- 2. 武汉理工大学 武汉 430063
- 折叠
摘要
Abstract
This paper proposes a method based on improved artificial potential field to solve the local path planning problem of unmanned surface vessel(USV)in complex marine environments during sea assault operations.Secondly,aiming at the problem that the traditional APF algorithm has local oscillation,a virtual target is proposed to avoid of the local minimum.The simulation re-sults show that the algorithm has fast convergence speed,suppresses ship vibration,and the planned path has high smoothness.关键词
无人船/路径规划/人工势场/虚拟目标Key words
USV/path planning/APF/virtual target分类
动力与电气工程引用本文复制引用
黄羽韬,贾兆巍,刘梦佳..基于改进人工势场的无人船路径规划[J].舰船电子工程,2025,45(4):56-60,115,6.
