Xiaoli Li, Tongtong Jiao#, Jinfeng Ma, Dongxing Duan, Shengbin Liang#,*
CMES-Computer Modeling in Engineering & Sciences, Vol.138, No.1, pp. 595-617, 2024, DOI:10.32604/cmes.2023.029367
Abstract In view of the complex marine environment of navigation, especially in the case of multiple static and dynamic obstacles, the traditional obstacle avoidance algorithms applied to unmanned surface vehicles (USV) are prone to fall into the trap of local optimization. Therefore, this paper proposes an improved artificial potential field (APF) algorithm, which uses 5G communication technology to communicate between the USV and the control center. The algorithm introduces the USV discrimination mechanism to avoid the USV falling into local optimization when the USV encounter different obstacles in different scenarios. Considering the various scenarios between the USV and other dynamic obstacles… More >
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