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A method of artificial potential fields for the determination of ship’s safe trajectory

Mielniczuk S.

Zeszyty Naukowe Akademii Morskiej w Szczecinie

2017

nr 51 (123)

45--49

Various methods of trajectory determination are used for finding solutions to collision situations involving ships. This applies to avoiding collisions with other ships or stationary objects. In addition to the methods generally used, new or modified versions of methods derived from other modes of transport are proposed. One of the algorithms for route determination serving to avoid obstructions is the method of artificial potential fields, used for determining routes of mobile robots. The method is used in maritime transport, for instance for detecting anomalies in ship movement. The article presents the method of potential fields used for solving the problem of route selection avoiding navigational dangers and obstacles. This article presents an algorithm of route determination based on the said method, its implementation in the MATLAB program and examples of application for the ship’s safe trajectory determination in some navigational situations.

Artifical potential fields algorithm for Mars rover path planning in an unknown enviroment

Wyrąbkiewicz K., Tarczewski T., Grzesiak L. M.

Poznan University of Technology Academic Journals. Electrical Engineering

2014

No. 80

183--189

In this paper artificial potential fields method applied to autonomous mobile robot - Mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. Inserted by graphic data input interface in top view mode obstacles are deployed in environment area. The method of artificial potential fields is extended by an additional algorithm to avoid a local minimum. The proposed algorithm is implemented as a state machine. In this paper simulations results of the developed algorithm are presented.

Artifical potential fields with extended Bug algorithm for Mars rover path planning in an unknown environment

Wyrąbkiewicz K., Tarczewski T., Grzesiak L.M.

Computer Applications in Electrical Engineering

2014

Vol. 12

422--433

In this paper artificial potential fields method applied to autonomous mobile robot -mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. The object can be inserted by graphic data input interface in top view mode. The method of artificial potential fields is extended by an additional algorithm to avoid a local minimum. The proposed algorithm is implemented as a state machine. In this paper simulations results of the developed algorithm are presented. Extended algorithm is used because in the environment may be located complex obstacles.