A hybrid artificial potential field method for autonomous surface vessel path planning in dynamic riverine environment

Jian Hong Mei, M. R. Arshad

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)

Abstract

A hybrid Artificial Potential Field (APF) method is addressed in this paper for Autonomous Surface Vessel (ASV) cruising in the dynamic riverine environment. Firstly, a balance control scheme is proposed to replace the attractive potential function and perform the ASV tracking along the centerline of the river. Then, to simplify the repulsive potential function, the relative velocity between ASV and obstacle is derived from relative position, which reduces the requirement of on-board sensing. Finally, two challenging scenarios, head-on situation and overtaking situation, where ASV encounters another moving ship in a river are simulated. The simulation results illustrate that the proposed hybrid APF method is effective for simultaneous path planning and obstacle avoidance in the dynamic riverine environment.

Original languageEnglish
Pages (from-to)1980-1994
Number of pages15
JournalIndian Journal of Geo-Marine Sciences
Volume44
Issue number12
Publication statusPublished - Dec 2015
Externally publishedYes

Keywords

  • Artificial potential field
  • Balance control scheme
  • Obstacles avoidance
  • Path planning

Fingerprint

Dive into the research topics of 'A hybrid artificial potential field method for autonomous surface vessel path planning in dynamic riverine environment'. Together they form a unique fingerprint.

Cite this