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A modified artificial potential field method for riverine obstacles avoidance
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نویسنده
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hong m.j. ,arshad m.r.
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منبع
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jurnal teknologi - 2016 - دوره : 78 - شماره : 6-13 - صفحه:67 -73
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چکیده
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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. © 2016 penerbit utm press. all rights reserved.
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کلیدواژه
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Artificial potential field; Autonomous surface vessel; COLREGs; Obstacles avoidance
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آدرس
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underwater,control and robotics research group (ucrg),school of electrical and electronic engineering,universiti sains malaysia(usm),engineering campuspenang, Malaysia, underwater,control and robotics research group (ucrg),school of electrical and electronic engineering,universiti sains malaysia(usm),engineering campuspenang, Malaysia
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Authors
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