A modified artificial potential field method for riverine obstacles avoidance

Mei Jian Hong; M. R. Arshad

doi:10.11113/jt.v78.9274

A modified artificial potential field method for riverine obstacles avoidance

Mei Jian Hong, M. R. Arshad^*

^*Corresponding author for this work

Universiti Sains Malaysia

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

This paper presents a modified artificial potential field (APF) based method for an Autonomous Surface Vessel (ASV) obstacles avoidance in a dynamic riverine environment. The APF method is combined with a balance control scheme to achieve river tracking and obstacles avoidance simultaneously. The APF method is further modified modification to comply with marine collision avoidance regulations (COLREGs). The overtaking and head-on scenarios are simulated in MATLAB platform. The simulation results are compared with other APF methods to prove that the proposed method is efficient for the ASV riverine navigation.

Original language	English
Pages (from-to)	67-73
Number of pages	7
Journal	Jurnal Teknologi
Volume	78
Issue number	6-13
DOIs	https://doi.org/10.11113/jt.v78.9274
Publication status	Published - 2016
Externally published	Yes

Keywords

Artificial potential field
Autonomous surface vessel
COLREGs
Obstacles avoidance

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.11113/jt.v78.9274

Cite this

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title = "A modified artificial potential field method for riverine obstacles avoidance",

abstract = "This paper presents a modified artificial potential field (APF) based method for an Autonomous Surface Vessel (ASV) obstacles avoidance in a dynamic riverine environment. The APF method is combined with a balance control scheme to achieve river tracking and obstacles avoidance simultaneously. The APF method is further modified modification to comply with marine collision avoidance regulations (COLREGs). The overtaking and head-on scenarios are simulated in MATLAB platform. The simulation results are compared with other APF methods to prove that the proposed method is efficient for the ASV riverine navigation.",

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AU - Arshad, M. R.

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AB - This paper presents a modified artificial potential field (APF) based method for an Autonomous Surface Vessel (ASV) obstacles avoidance in a dynamic riverine environment. The APF method is combined with a balance control scheme to achieve river tracking and obstacles avoidance simultaneously. The APF method is further modified modification to comply with marine collision avoidance regulations (COLREGs). The overtaking and head-on scenarios are simulated in MATLAB platform. The simulation results are compared with other APF methods to prove that the proposed method is efficient for the ASV riverine navigation.

KW - Artificial potential field

KW - Autonomous surface vessel

KW - COLREGs

KW - Obstacles avoidance

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A modified artificial potential field method for riverine obstacles avoidance

Abstract

Keywords

UN SDGs

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