In view of the complex marine environment of navigation,especially in the case of multiple static and dynamic obstacles,the traditional obstacleavoidancealgorithms applied to unmanned surface vehicles(USV)are prone ...
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In view of the complex marine environment of navigation,especially in the case of multiple static and dynamic obstacles,the traditional obstacleavoidancealgorithms applied to unmanned surface vehicles(USV)are prone to fall into the trap of local ***,this paper proposes an improved artificial potential field(APF)algorithm,which uses 5G communication technology to communicate between the USV and the control *** algorithm introduces the USV discrimination mechanism to avoid the USV falling into local optimization when the USV encounter different obstacles in different *** the various scenarios between the USV and other dynamic obstacles such as vessels in the process of performing tasks,the algorithm introduces the concept of dynamic artificial potential *** the multiple obstacles encountered in the process of USV sailing,based on the International Regulations for Preventing Collisions at Sea(COLREGS),the USV determines whether the next step will fall into local optimization through the *** local potential field of the USV will dynamically adjust,and the reverse virtual gravitational potential field will be added to prevent it from falling into the local optimization and avoid *** objective function and cost function are designed at the same time,so that the USV can smoothly switch between the global path and the localobstacle *** simulation results show that the improved APF algorithm proposed in this paper can successfully avoid various obstacles in the complex marine environment,and take navigation time and economic cost into account.
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