The present invention proposes a ship collision avoidance method based on an artificial potential field. The method includes the following steps of: (S1) acquiring ship information, information on at least one obstacle, and target point information; (S2) constructing an artificial potential field having a target attraction force potential field and at least one obstacle repulsion force potential field based on the acquired ship information, obstacle information, and target point information; (S3) obtaining a first resultant force by merging the target attraction force potential field and the repulsion force potential field of at least one obstacle; (S4) adding an external action force based on the ship information or the obstacle information; (S5) obtaining a second resultant force by adding the first resultant force and the external action force; and (S6) the ship avoiding the at least one obstacle by sailing based on the second resultant force direction. An object of the present invention is to provide a ship collision avoidance method based on an artificial potential field that can solve the above-mentioned problems.
본 발명은 인공 포텐셜장에 기반한 선박 충돌 회피 방법을 제시한다. 상기 방법에는 다음 단계가 포함된다: (S1) 선박정보, 최소한 한개 장애물의 정보, 및 목표점 정보를 취득한다. (S2) 취득한 선박정보, 장애물정보, 및 목표점 정보에 근거하여 목표점 인력 포텐셜장과 최소한 한개 장애물의 배척력 포텐셜장이 있는 인공 포텐셜장을 구축한다. (S3) 상기 목표점 인력 포텐셜장과 최소한 한개 장애물의 배척력 포텐셜장을 합쳐서 첫째 합력을 취득한다. (S4) 상기 선박 정보 또는 장애물 정보에 근거하여 외부 작용력을 추가한다. (S5) 상기 첫째 합력과 외부 작용력을 합쳐서 둘째 합력을 취득한다. (S6) 상기 선박은 둘째 합력 방향에 근거하여 항행해서 상기 최소한 한개의 장애물을 회피한다.
vessel collision avoiding method and system based on Artificial Potential Field
인공 포텐셜장에 기반한 선박 충돌 회피 방법 및 시스템
2021-09-29
Patent
Elektronische Ressource
Koreanisch
vessel collision avoiding method and system based on Artificial Potential Field
Europäisches Patentamt | 2023
VESSEL COLLISION AVOIDING METHOD AND SYSTEM BASED ON ARTIFICIAL POTENTIAL FIELD
Europäisches Patentamt | 2021
|Vessel collision avoiding method and system based on artificial potential field
Europäisches Patentamt | 2023
|VESSEL COLLISION AVOIDANCE METHOD BASED ON ARTIFICIAL POTENTIAL FIELD METHOD AND SYSTEM
Europäisches Patentamt | 2021
|