开放水域的环境往往复杂多变，包括静态障碍物和动态障碍物等，这些因素增加了船舶编队避障的难度，为此提出一种结合改进人工势场法和优化遗传算法的避障方法。在局部避障中，引入改进的斥力函数平衡目标点吸引力和障碍物斥力，提高了路径规划的有效性和实用性。在全局避障中，采用定长二进制编码、动态环境适应机制和自适应遗传算法操作，实现了复杂开放水域多船编队的全局避障。实验结果表明，该方法能够成功引导多船编队避开静态和动态障碍物，保持队形稳定性，验证了其在复杂开放水域中的可靠性和实用性。
The environment of open waters is often complex and varied, including static and dynamic obstacles, which increase the difficulty of obstacle avoidance for ship formations. Therefore, a method combining improved artificial potential field method and optimized genetic algorithm for obstacle avoidance is proposed. In local obstacle avoidance, the introduction of an improved repulsive function balances the attraction of the target point and the repulsion of obstacles, improving the effectiveness and practicality of path planning. In global obstacle avoidance, fixed length binary encoding, dynamic environment adaptation mechanism, and adaptive genetic algorithm operation are used to achieve global obstacle avoidance for complex open water multi ship formations. The experimental results show that this method can successfully guide multi ship formations to avoid static and dynamic obstacles, maintain formation stability, and verify its reliability and practicality in complex open waters.
2025,47(12): 19-23 收稿日期：2025-2-26
DOI：10.3404/j.issn.1672-7649.2025.12.004
分类号：TP242
基金项目：江苏省海经监评估中心开放项目（JSHYJJ202203）；江科大本科双创省级重点项目（双创学院[2023]15号）
作者简介：任禹澎(2004-),男,本科在读,研究方向为船舶生产计划管理和作业仿真
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