Environment Potential Field Modeling for Ship Automatic Collision Avoidance in Restricted Waters

The accurate environment potential field (EPF) modeling method and highly efficient collision avoidance (CA) approach are key technologies for maritime autonomous surface ships (MASS). A novel model is proposed using electronic navigation chart (ENC) face objects to describe different types of navigable non-navigable areas, an improved artificial (APF) presented realize collaborative CA obstacle (OA). Implicit equations complex-shaped were constructed based on R-function theory, the discrete-convex hull was introduced automatic EPF modeling. Collaborative OA experiments in restricted waters conducted a ship handling simulator. results show that APF can obtain robust deterministic collision-free path under weather conditions waters, track zone width remains within 0.1 nm. object accurate, even with numerous vertices complex shapes, drive apart at relatively safe distance accordance recommended parameter. We present practical effective APF-based planning.