A practical environment potential field modelling method for complex geometric objects

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2022-09-15 DOI:10.1017/S0373463322000455

Z. Zhu, Hongguang Lyu, Jun-dong Zhang, Y. Yin, Xiang Fan

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引用次数: 2

Abstract

Abstract Several studies have been conducted on collision avoidance (CA) and path planning for maritime autonomous surface ships (MASS) based on artificial potential field (APF) and electronic navigation chart (ENC) data. However, to date, accurate, highly efficient, and automatic modelling of complicated geometry environment potential fields (EPFs) has not been realised. In this study, an accurate EPF model is established using ENC data to describe different types of obstacles, navigable areas, and non-navigable areas. The implicit equations of complex polygons are constructed based on the R-function theory, and the discrete-convex hull method is introduced to realise the automatic modelling of EPF. Moreover, collaborative CA and obstacle avoidance (OA) experiments are designed and conducted in a simulated environment and based on the ENC data. The results show that the proposed EPF modelling method is accurate, reliable, and time-efficient even with numerous ENC data and complex shapes owing to the R-function representation for geometric objects and discrete-convex hull method. The combination of improved APF and EPF models is proven to be effective for CA and OA. This paper presents a practical EPF modelling approach for APF-based ship path planning.

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一种实用的复杂几何物体环境势场建模方法

基于人工势场(APF)和电子航海图(ENC)数据，对海上自主水面舰艇(MASS)避碰和路径规划进行了研究。然而，迄今为止，复杂几何环境势场的准确、高效和自动建模尚未实现。在本研究中，利用ENC数据建立了精确的EPF模型来描述不同类型的障碍物、通航区域和非通航区域。基于r函数理论建立了复杂多边形的隐式方程，并引入离散凸包法实现了EPF的自动建模。此外，基于ENC数据，设计并进行了仿真环境下的协同CA和避障实验。结果表明，该方法采用了几何对象的r函数表示和离散凸包法，即使在大量的ENC数据和复杂的形状下，也能准确、可靠、省时。将改进的APF和EPF模型相结合，对CA和OA是有效的。本文提出了一种实用的基于apf的船舶路径规划的EPF建模方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.