Local path planning for USV based on improved APF algorithm

DOI:	10.11809/bqzbgcxb2023.09.006
Keywords:	artificial potential field method; unmanned surface vessel; local minima; dynamic obstacle avoidance
Abstract:	In order to solve the problems of local minimum and path unsmooth when the traditional artificial potential field(APF) method is used for unmanned surface vessel(USV) path planning, the repulsion coefficient is dynamically adjusted and the escape force is introduced. To make the USV navigate in dynamic collision avoidance according to the International Regulations for Preventing Collisions at Sea (COLREGS), combining with USV performance, the collision avoidance rules of USV are formulated and steering force is introduced. Through the simulation experiment on static unknown obstacles by MATLAB, it is verified that the improved APF algorithm can solve the local minimum problem and the planned path is safer and smoother. Simulation experiments on four typical situations of dynamic obstacles show that the improved APF algorithm can guide the USV to avoid multiple dynamic obstacles in accordance with the COLREGS in a complex environment.
Published:	2023-09-28
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