Path Planning for Unmanned Surface Vessel Based on Improved Artificial Potential Field
HUANG Yutao
JIA Zhaowei
LIU Mengjia
Abstract：This paper proposes a method based on improved artificial potential field to solve the local path planning problem of unmanned surface vessel(USV)in complex marine environments during sea assault operations.Secondly,aiming at the problem that the traditional APF algorithm has local oscillation,a virtual target is proposed to avoid of the local minimum.The simulation re-sults show that the algorithm has fast convergence speed,suppresses ship vibration,and the planned path has high smoothness.
Keywords：USVpath planningAPFvirtual target
Publication Date：2025-04-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 56-60,115 )