WANG Q P, LI L H, GUAN H X, et al. Ship local path planning method based on three-dimensional potential field model[J]. Chinese Journal of Ship Research, 2025, 20(1): 135–146 (in Chinese). DOI: 10.19693/j.issn.1673-3185.04076
Citation: WANG Q P, LI L H, GUAN H X, et al. Ship local path planning method based on three-dimensional potential field model[J]. Chinese Journal of Ship Research, 2025, 20(1): 135–146 (in Chinese). DOI: 10.19693/j.issn.1673-3185.04076

Ship local path planning method based on three-dimensional potential field model

More Information
  • Received Date: July 21, 2024
  • Revised Date: August 27, 2024
  • Available Online: August 28, 2024
  • Published Date: December 02, 2024
© 2025 The Authors. Published by Editorial Office of Chinese Journal of Ship Research. Creative Commons License
This is an Open Access article distributed under the terms of the Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
  • Objectives 

    To make local path planning algorithms more consistent with the maneuvering characteristics of ships, thereby generating safer and more reliable reference paths, this paper proposes a three-dimensional potential field modeling method.

    Methods 

    By converting the Cartesian coordinate system to the ellipsoidal coordinate system, it addresses the anisotropy problem of the potential field distribution function. The ship’s potential energy distribution function is calculated by solving the Laplace equation. A control framework combining the potential field model and model predictive control (MPC) algorithm is designed to enhance the adaptability of dynamic real-time local path planning for ships in different scenarios. Simulations are conducted with actual navigation vessels in the waters of the Sutong Yangtze River Highway Bridge area. The three-dimensional potential field model is used to obtain local reference paths, and the MPC algorithm is employed for ship path tracking control simulation experiments.

    Results 

    As the results show, compared to reference paths generated by traditional and improved artificial potential field methods, the three-dimensional potential field model’s local reference paths are superior in terms of length, curve smoothness, maximum steering angle, and average absolute heading error. This model can generate shorter and smoother local paths which are more consistent with the actual maneuvering habits of ships and exhibit less jitter in traffic-intensive scenarios.

    Conclusions 

    This study demonstrates that the local reference paths generated by the three-dimensional potential field model can effectively identify the target ship’s steering angles and differences in ship scale, reduce reliance on the number of surrounding target ships, and effectively capture the interactions between ship agents, thus showing high reliability.

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