MPAPF-Ship Motion Planner

Version 1.0.0 (574 KB) by 治卜贺

A novel model predictive artificial potential field based ship motion planning method considering COLREGs for complex encounter scenarios

https://doi.org/10.1016/j.isatra.2022.09.007

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Updated 11 Sep 2022

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Description: This is a demo for MPAPF (Model Predictive Artificial Potential Field), and case1_1.m is the program used in Case 1, static obstacles collision avoidance, Fig. 16.

How to use: RUN this file and input the prediction step (we suggest that it should be 1~10, in this program, 1 step may cost you 120 s, while 10 steps may be 100 times higher than 1 step.)

Cite As

He, Zhibo, et al. “A Novel Model Predictive Artificial Potential Field Based Ship Motion Planning Method Considering COLREGs for Complex Encounter Scenarios.” ISA Transactions, Elsevier BV, Sept. 2022, doi:10.1016/j.isatra.2022.09.007.

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MATLAB Release Compatibility

Created with R2022a

Compatible with any release

Platform Compatibility

Windows macOS Linux

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case1_staticobs

case1_staticobs/case1_2_functions

case1_staticobs/lib

Version	Published	Release Notes
1.0.0	11 Sep 2022		Download

MLA	He, Zhibo, et al. “A Novel Model Predictive Artificial Potential Field Based Ship Motion Planning Method Considering COLREGs for Complex Encounter Scenarios.” ISA Transactions, Elsevier BV, Sept. 2022, doi:10.1016/j.isatra.2022.09.007.
APA	He, Z., Chu, X., Liu, C., & Wu, W. (2022). A novel model predictive artificial potential field based ship motion planning method considering COLREGs for complex encounter scenarios. ISA Transactions. Elsevier BV. Retrieved from https://doi.org/10.1016%2Fj.isatra.2022.09.007
BibTeX	@article{He_2022, doi = {10.1016/j.isatra.2022.09.007}, url = {https://doi.org/10.1016%2Fj.isatra.2022.09.007}, year = 2022, month = {sep}, publisher = {Elsevier {BV}}, author = {Zhibo He and Xiumin Chu and Chenguang Liu and Wenxiang Wu}, title = {A novel model predictive artificial potential field based ship motion planning method considering {COLREGs} for complex encounter scenarios}, journal = {{ISA} Transactions} }