| 基于虚拟应力场法的船舶避让与控制 |
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| 引用本文： | 陈翰飞.基于虚拟应力场法的船舶避让与控制[J].广东交通职业技术学院学报,2008,7(1):58-61. |
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| 作者姓名： | 陈翰飞 |
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| 作者单位： | 广州港引航站,广东广州,510665 |
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| 摘 要： | 为了实现船舶在航道内的避障，应用虚拟力场法建立了避障模型，描述了目标点的虚拟引力和障碍物的虚拟斥力之间的关系及其功能设计，实现了从船舶运动坐标值到控制量的转变，结果证明．船舶能够在多变的周边环境中实现避障功能。
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| 关 键 词： | 船舶 虚拟力场 避障模型 |
| 文章编号： | 1671-8496-(2008)01-0058-04 |
| 修稿时间： | 2007年7月20日 |
Study on Obstacle Avoidance to Mobile Ship in Sea-route |
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| CHEN Han-fei.Study on Obstacle Avoidance to Mobile Ship in Sea-route[J].Journal of Guangdong Communication Polytechnic,2008,7(1):58-61. |
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| Authors: | CHEN Han-fei |
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| Institution: | CHEN Han-fei (Guangzhougang Pilot-station,Guangzhou 510665,China) |
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| Abstract: | In order to solve the problem of obstacle avoidance to shipping in Greenhouse,this paper applies virtual force filed to making a model of obstacle avoidance,describes the relationship about virtual gravitation and virtual repulsion,which is between Target and Obstacle,and an implementation of obstacle avoidance,convert from moving coordinate to controlling variable.Test shows that the shipping can avoid obstacle in changeful circumstance. |
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| Keywords: | shipping virtual force field obstacle avoidance model |
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