Ship local path planning method based on three-dimensional potential field model

Qunpeng WANG; Longhao LI; Hongxu GUAN; Jialun LIU; Jianzhe CAI; Zhengrong SHA; Jinshui ZHANG

doi:10.19693/j.issn.1673-3185.04076

Journals >Chinese Journal of Ship Research >Volume 20 >Issue 1 >Page 135 > Article

Chinese Journal of Ship Research
Vol. 20, Issue 1, 135 (2025)

Ship local path planning method based on three-dimensional potential field model

Qunpeng WANG¹, Longhao LI^2,3, Hongxu GUAN^4,5, Jialun LIU^3,6,7..., Jianzhe CAI^4,5, Zhengrong SHA¹ and Jinshui ZHANG¹|Show fewer author(s)

Author Affiliations

¹School of Shipping and Maritime Studies, Guangzhou Maritime University, Guangzhou 510725, China

²School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China

³Intelligent Transport System Research Center, Wuhan University of Technology, Wuhan 430063, China

⁴School of Navigation, Wuhan University of Technology, Wuhan 430063, China

⁵Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China

⁶State Key Laboratory of Maritime Technology and Safety(Wuhan University of Technology), Wuhan 430063, China

⁷National Engineering Research Center for Water Transport Safety, Wuhan 430063, China

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DOI: 10.19693/j.issn.1673-3185.04076 Cite this Article

Qunpeng WANG, Longhao LI, Hongxu GUAN, Jialun LIU, Jianzhe CAI, Zhengrong SHA, Jinshui ZHANG. Ship local path planning method based on three-dimensional potential field model[J]. Chinese Journal of Ship Research, 2025, 20(1): 135 Copy Citation Text

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参数	数值	参数	数值
m/t	2 000	$ {k_2} $	100
$ \alpha $	1.566×10−16	K	1
$ \gamma $	0.334 5	$ \beta $	6.667
$ {T_i} $	1	$ N_{\mathrm{p}} $	4
$ {k_1} $	1.5	$ {\delta _{\max }} $/(°)	35

Table 1. Settings for simulation parameters

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参数	数值
$ T_1/\mathrm{s} $	11.454 0
$ T_2/\mathrm{s} $	5.199 2
$ T_3/\mathrm{s} $	3.838 2
$ K/\mathrm{s}^{-1} $	0.116 5

Table 2. Motion model parameters K-T for the ship

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方法	最大转向角度/(°)	平均舵幅/(°)	路径长度/n mile	曲线平滑度/rad
传统人工势场	34.283	1.617	2.105	0.012
改进人工势场	43.381	1.292	2.232	0.010
三维势场	21.890	1.251	2.205	0.008

Table 3. Comparison of simulation results for single-ship encounter scenario

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方法	最大转向角度/(°)	平均舵幅/(°)	路径长度/n mile	曲线平滑度/rad
传统人工势场	24.715	2.937	1.428	0.830
改进人工势场	34.515	8.174	1.517	0.737
三维势场	23.346	1.781	1.432	0.659

Table 4. Comparison of simulation results for single-ship crossing encounter scenario

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方法	最大转向角度/(°)	平均舵幅/(°)	路径长度/n mile	曲线平滑度/rad
传统人工势场	42.556	9.498	2.042	0.977
改进人工势场	28.725	5.751	2.047	0.685
三维势场	17.330	3.307	1.939	0.639

Table 5. Comparison of simulation results for multi-ship encounter scenario

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