针对复杂水域中船舶频繁遭遇的动态与静态障碍物问题，本文提出人工势场算法下复杂水域船舶海上交通规划方法。运用实时采集的海上环境信息，构建船舶交通人工势场模型，通过模型中障碍物与目标点的斥力与引力，获得二者的合力，引导船舶躲避障碍物并向目标点航行；向障碍物斥力函数中引入目标距离参数，限制障碍物斥力，解决复杂障碍物下船舶无法抵达目标点问题；增设虚拟目标点，避免复杂水域下船舶规划陷入局部最优状态，得到全局最优规划路径。结果表明，该方法可实现不同复杂水域下船舶最优交通路径规划，准确避障的同时，降低船舶航行时间步长，保证船舶安全高效航行。
In response to the frequent encounter of dynamic and static obstacles by ships in complex waters, this paper proposes an artificial potential field algorithm for ship maritime traffic planning in complex waters. By utilizing real-time collected marine environmental information, a ship traffic artificial potential field model is constructed. Through the repulsive and attractive forces between obstacles and target points in the model, the combined force of the two is obtained to guide the ship to avoid obstacles and navigate towards the target point; Introducing the target distance parameter into the obstacle repulsion function to limit the obstacle repulsion and solve the problem of ships being unable to reach the target point under complex obstacles; Add virtual target points to avoid getting stuck in local optima in ship planning in complex waters, and obtain the global optimal planning path. The results show that this method can achieve optimal traffic path planning for ships in different complex water areas, accurately avoid obstacles, reduce the time step of ship navigation to ensure safe and efficient navigation.
2025,47(6): 162-166 收稿日期：2024-9-13
DOI：10.3404/j.issn.1672-7649.2025.06.028
分类号：TP391
基金项目：中国交通教育研究会2022-2024年度教育研究课题（JT2022YB144）
作者简介：陈留远（1983 – ），男，无限航区一等船长，研究方向为航海技术
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