Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization
نویسندگان
چکیده
In order to solve the problem that it is difficult combine path planning with navigation rules in process of multi-ship collision avoidance wide waters, a step-by-step algorithm proposed this paper. Firstly, obstacle ship regarded as static obstacle, and carried out by using particle swarm optimization polar coordinate space combined field safety obtain turning point avoidance. Then, steering angle dynamically corrected rules. The experimental results show finds an optimal about 35 iterations, shortest 38.4 n miles. Conclusion. can provide new idea for solving
منابع مشابه
Robot Path Planning Based on Random Coding Particle Swarm Optimization
Mobile robot navigation is to find an optimal path to guide the movement of the robot, so path planning is guaranteed to find a feasible optimal path. However, the path planning problem must be solve two problems, i.e., the path must be kept away from obstacles or avoid the collision with obstacles and the length of path should be minimized. In this paper, a path planning algorithm based on ran...
متن کاملPath Planning for Automotive Collision Avoidance Based on Elastic Bands
Collision-free path planning will be an essential feature of future automotive collision avoidance systems (CAS). One of the most promising approaches uses so-called elastic bands in generating emergency trajectories. For the automotive application of this approach, moving obstacles and the borders of the road are modeled by virtual potential fields. To find solutions even in complex driving si...
متن کاملPath Planning and Collision Avoidance for Robots
An optimal control problem to find the fastest collision-free trajectory of a robot surrounded by obstacles is presented. The collision avoidance is based on linear programming arguments and expressed as state constraints. The optimal control problem is solved with a sequential programming method. In order to decrease the number of unknowns and constraints a backface culling active set strategy...
متن کاملPath Planning and Collision Avoidance for
We have developed a planner for redundant manipula-tors that is fast, eeective and versatile, based on the idea of treating each link of a rigid-linked robot as if it were slightly exible and under the innuence of a potential eld. We describe the extensions to the basic method that allow it to plan paths for manipulators with revolute joints (linear and spherical joints having been covered in a...
متن کاملA Hybrid Multi-Step Rolling Forecasting Model Based on SSA and Simulated Annealing—Adaptive Particle Swarm Optimization for Wind Speed
Abstract: With the limitations of conventional energy becoming increasing distinct, wind energy is emerging as a promising renewable energy source that plays a critical role in the modern electric and economic fields. However, how to select optimization algorithms to forecast wind speed series and improve prediction performance is still a highly challenging problem. Traditional single algorithm...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Control Science and Engineering
سال: 2022
ISSN: ['1687-5249', '1687-5257']
DOI: https://doi.org/10.1155/2022/5360674