A MODIFIED ARTIFICIAL POTENTIAL FIELD METHOD FOR RIVERINE OBSTACLES AVOIDANCE
DOI:
https://doi.org/10.11113/jt.v78.9274Keywords:
Artificial potential field, autonomous surface vessel, obstacles avoidance, COLREGsAbstract
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.Â
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