A Discrete Artificial Potential Field for Ship Trajectory Planning
Keyword(s):
This paper introduces an approach for solving a safe ship trajectory planning problem. The algorithm, utilising the concept of a discrete artificial potential field and a path optimisation algorithm, calculates an optimised collision-free trajectory for a ship. The method was validated by simulation tests with the use of real navigational data registered on board the research and training ship Horyzont II. Results of simulation studies demonstrate that the approach is capable of finding a collision-free trajectory in near-real time, and this proves its applicability in commercial collision avoidance systems for ships. The paper contributes to the development of decision support systems for ships and autonomous navigation.
2019 ◽
Vol 233
(16)
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pp. 6032-6043
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2020 ◽
Vol 18
(8)
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pp. 2095-2107
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2020 ◽
pp. 095965182097483
2021 ◽
Vol 1068
(1)
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pp. 012012
2018 ◽
2017 ◽
Vol 11
(1)
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pp. 85-92
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