ABSTRACT
In this study, a novel path planning method with ship maneuverability is proposed by combining the Model Predictive Control (MPC) and Artificial Potential Field (APF) method. First, the Cooperative Ship Domain Model is selected to determine the ship collision avoidance safe distance. Then, the ship path planning problem is transformed into a nonlinear optimization problem with multiple constraints including International Regulations for Preventing Collisions at Sea (COLREGs), ship maneuverability, etc. Moreover, according to states of own ship and scenarios information, the future states of ship and total potential field is predicted and calculated to design own ship movement route. Finally, multiple ships meeting in the crossing situation is used to simulate collision avoidance. The results show that the proposed algorithm is effective and feasible for generating paths to avoid ship collision.
