208 OMET 2006

ᑨ⫼ APF ᮍ⊩ⱘ㠍㠊㞾ࡼ䙓⺄ⷨお

ᓴ号号 ᮑᳱ‫ع‬
Ϟ⍋⍋џ໻ᄺ ଚ㠍ᄺ䰶ˈ Ϟ⍋ 200135

ᨬ㽕˖㠍㠊㞾ࡼ䙓⺄ϔⳈᰃ⍋ϞѸ䗮䖤䕧ⱘⷨお⛁⚍ПϔDŽࠄⳂࠡЎℶˈ໻໮᭄ⱘⷨおҙሔ䰤Ѣϸ㠍㞾ࡼ䙓⺄ˈ
ᇍѢ໮㠍䙓⺄ሔ䴶ҡ≵᳝ϔ⾡䕗དⱘ㾷‫އ‬ᮍ⊩DŽҎᎹ࢓എ˄APF-Artificial Potential Field˅ᮍ⊩֓Ѣ᭄ᄺᦣ䗄ˈᅲ
ᯊᗻᔎˈ䗖⫼Ѣᑇ䴶Ԣ䗳㋏㒳ˈ㹿ᑓ⊯ᑨ⫼Ѣᴎ఼Ҏ䏃ᕘ㾘ߦЁDŽᴀ᭛ᦤߎϔ⾡ᬍ䖯ⱘ APF ᮍ⊩ˈᇚ㠍㠊ⱘ䗳ᑺ
੠᪡㒉⡍ᗻᓩܹࠄ῵ൟⱘᓩ࡯੠᭹࡯ߑ᭄Ёˈ⫼Ѣᅲ⦄㠍㠊㞾ࡼ䙓⺄DŽ᭛Ё䖬ᇚᇍ APF Ёⱘሔ䚼᳔ᇣ⚍䯂乬䖯㸠
䅼䆎ˈᑊᦤߎ㾷‫އ‬ᮍ⊩DŽ

݇䬂ᄫ˖ ҎᎹ࢓എ˗㞾ࡼ䙓⺄˗໮㠍䙓⺄˗㠍㠊偒偊㞾ࡼ࣪

Autonomous Collision Avoidance for Ships Using APF Method

Zhang Ming-ming Shi Chao-jian

Merchant Marine College, Shanghai Maritime University, Shanghai 200135, P. R. China

Abstract: Autonomous collision avoidance research for ships has been one of important research topics in the field of
maritime transportation. Up to now, most of the researches are limited in two-ship situation. It is still an open problem for
multi-ship situations. Artificial potential field (APF) method is widely used for path planning of mobile robots, due to its
elegant mathematical analysis and simplicity. This method is especially suitable for 2-D low-speed systems. This paper
proposes an improved APF method to realize the autonomous collision avoidance in multi-ship situations. A novel APF
model for ship collision avoidance is defined, and the velocity and maneuvering behavior of ship are introduced to the
corresponding virtual force functions. The problem of local minima is addressed and solutions are presented.

Keyword: APF-Artificial Potential Field; autonomous collision avoidance; multi-ship situation; ship navigation automation

1. ᓩ㿔

䱣ⴔ⍋Ϟ䌌ᯧᕔᴹⱘ᮹Ⲟ乥㐕ˈ⍋ϞѸ䗮џᬙϡᮁথ⫳ˈϡҙ䗴៤њᎼ໻ⱘ⫳ੑ੠䋶ѻᤳ༅ˈ㗠Ϩ
Ϲ䞡࿕㚕ⴔ⍋⋟⦃๗DŽ಴ℸˈ㠍㠊㞾ࡼ䙓⺄ϔⳈᰃ㟾⍋ᡔᴃⱘⷨお⛁⚍ПϔDŽ
$3)$UWLILFLDO3RWHQWLDO)LHOGेҎᎹ࢓എᮍ⊩೼ᴎ఼Ҏ᥻ࠊঞ䖤ࡼ㾘ߦ乚ඳ㹿ᑓ⊯Փ⫼ˈ䆹ᮍ⊩
ⱘ⡍⚍ᰃ䅵ㅫㅔ⋕ǃᅲᯊᗻᔎˈ֓Ѣ᭄ᄺᦣ䗄DŽ݊佪‫ ⬅ܜ‬.KDWLE ᦤߎˈᑊᑨ⫼Ѣ䴭ᗕ䱰⹡⠽⦃๗ϟⱘ
ᴎ఼Ҏ᥻ࠊЁ>@˗*( ੠ &8, ㄝҎᇍ .KDWLE ⱘᮍ⊩䖯㸠њϔᅮᬍ䖯ˈ݊ᵘ䗴ⱘᬍ䖯 $3) ᮍ⊩㛑໳䗖ᑨࡼ
ᗕ䱰⹡⠽⦃๗>@˗ҎᎹ࢓എг᳒㹿ᑨ⫼Ѣ䕂ᓣᴎ఼Ҏ೼㞾✊ഄᔶЁ䖤ࡼㄝⷨおЁ>@DŽ㒣䭓ᳳⱘⷨお
ᘏ㒧ˈҎᎹ࢓എᮍ⊩䗖ড়೼Ԣ䗳ᑇ䴶㋏㒳ⱘ䏃ᕘ㾘ߦ੠᥻ࠊᮍ䴶Փ⫼>@DŽᴀ᭛ᦤߎњϔϾ䗖ড়Ѣ㠍
㠊㞾ࡼ䙓⺄ⱘᬍ䖯ൟҎᎹ࢓എˈᵘᓎњᴀ㠍ϢⳂᷛ⚍ǃҪ㠍ঞ⹡㟾⠽П䯈࢓എ݇㋏ⱘ᭄ᄺ῵ൟˈҢ㗠Փ
ᴀ㠍೼ϔᅮ㣗ೈ‫ৃݙ‬ҹᅲᯊഄ㾘䙓Ҫ㠍ঞ݊ᅗ⹡㟾⠽ˈ䖯㸠㞾ࡼ᮴⺄ᩲ㟾㸠DŽ
ᴀ᭛ⱘ㄀Ѡ䚼ߚᅮНњ䗖⫼Ѣ㠍㠊䙓⺄ⱘҎᎹ࢓എˈ݊Ёࣙᣀᓩ࡯ߑ᭄੠᭹࡯ߑ᭄˗㄀ϝ䚼ߚᇍҎ
Ꮉ࢓എ೼㠍㠊䙓⺄Ёⱘᑨ⫼䖯㸠䇈ᯢˈᑊᇍሔ䚼᳔ᇣ⚍䯂乬䖯㸠䅼䆎ˈᦤߎ㾷‫އ‬ᮍ⊩˗㄀ಯ䚼ߚᦤߎњ
ᴀ乍ⷨおⱘ䖯ϔℹᎹ԰DŽ

2. 㟾㸠㠍㠊ⱘ APF 㸼⼎

⫼ $3) ᮍ⊩㸼⼎㟾㸠㠍㠊ঞ݊⢊ᗕᯊˈᓩܹབϟ‫؛‬䆒˖
‫؛‬䆒ϔ˖ᴀ㠍೼ t ᯊࠏⱘԡ㕂 P (t ) ǃ䗳ᑺ v ǃܼ䗳ᮟಲᯊⱘ䖯䎱 A ǃ䕀৥䗳⥛ r ᏆⶹDŽ

Ϟ⍋Ꮦ䞡⚍ᄺ⾥ᓎ䆒乍Ⳃ˄7˅
ᓴ号号˖Ϟ⍋⍋џ໻ᄺ⸩຿⫳DŽ

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 OMET 2006 209
‫؛‬䆒Ѡ˖䕀৥⚍ i ⱘԡ㕂 Pwp ᏆⶹDŽ i

‫؛‬䆒ϝ˖⹡㟾⠽ j ೼ t ᯊࠏԡ㕂 Ptar (t ) 䗳ᑺ vtar Ꮖⶹ

j j

2.1 ᓩ࡯࢓എߑ᭄

㠍㠊ϔ㠀ᣝ✻ᓔ㟾ࠡࠊᅮⱘ䅵ߦ㟾㒓㟾㸠DŽ䅵ߦ㟾㒓⬅䍋⚍ǃ㒜⚍ҹঞϸ⚍䯈㢹ᑆϾ䕀৥⚍㒘៤ˈ
䖭ѯ⚍ഛЎ೎ᅮ⚍ˈԡ㕂೼㟾㒓䅵ߦᯊ㒭ᅮDŽ಴ℸˈ㠍㠊೼㟾㸠Ё᠔ফࠄⱘᓩ࡯࢓എߑ᭄ᅮНབϟ˖
k
U att ( P ) D Pwpi  P (t ) ˄˅

݊Ёˈ P (t ) 㸼⼎Ўᴀ㠍೼ t ᯊࠏⱘԡ㕂˗ Pwp 㸼⼎㄀ i Ͼ䕀৥⚍ⱘԡ㕂˗ Pwp  P(t ) ߭㸼⼎ᴀ㠍೼ t ᯊ
i i

ࠏϢ㄀ i Ͼ䕀৥⚍П䯈ⱘ⃻⇣䎱⾏DŽ D ੠ k ഛЎᐌ᭄ˈ⫼Ѣ䇗㡖ᓩ࡯࢓എⱘ໻ᇣDŽᔧᴀ㠍Ϣ㄀ i Ͼ䕀৥⚍

П䯈䎱⾏ㄝѢ䳊ᯊˈᓩ࡯࢓എ U att ( P) ⱘ࢓എᔎᑺЎ䳊DŽᔧᴀ㠍Ϣ㄀ i Ͼ䕀৥⚍П䯈䎱⾏๲໻ᯊˈᓩ࡯࢓
എ U att ( P) ⱘᔎᑺг䱣П๲໻DŽ೒  㸼⼎ⱘᰃᔧ D 1 ˈ k 2 ᯊⱘᓩ࡯࢓എߑ᭄ ' ೒ˈ೒Ёˈ䕀৥⚍ⱘ
തᷛЎ˄˅DŽ⬅೒  ৃᯢᰒⳟߎ䕀৥⚍˄˅໘ⱘ࢓എᔎᑺЎ䳊ˈ໘Ѣ࢓䈋ԡ㕂ˈ݊Ҫതᷛ⚍ԡ
㕂ⱘ࢓എᔎᑺഛ໻Ѣ䕀৥⚍˄ˈ˅໘ⱘᔎᑺˈ಴ℸᓩ࡯࢓എߑ᭄㛑ֱ䆕ӏԩԡ㕂ⱘ㠍㠊㛑೼࢓Ꮒⱘ԰
⫼ϟࠄ䖒䆹䕀৥⚍DŽ
⬅݀ᓣ˄˅ˈৃᇚ԰⫼Ѣᴀ㠍 P ໘ⱘᓩ࡯ߑ᭄ᅮНЎ˖

Fatt ( P) ’U att ( P ) ˄˅

’ 㸼⼎ẃᑺˈ಴ℸˈ
wU att ( P )
Fatt ( P)  ˄˅
wP

2.2 ᭹࡯࢓എߑ᭄

䗮ᐌᴹ䇈ˈᔧ䱰⹡⠽೎ᅮϡࡼᯊˈ᭹࡯࢓എߑ᭄гৃҹ㹿ᅮНЎϢࠄ೎ᅮ䱰⹡⠽П䯈ⱘ䎱⾏᳝݇ⱘ
ߑ᭄DŽԚᰃ೼៥ӀⱘⷨおЁˈ㠍㠊ϡԚ㽕䙓⾏೎ᅮⱘ⹡㟾⠽ˈৠᯊг䳔㽕䙓⾏䰘䖥∈ඳЁ䖤ࡼⱘ݊Ҫ㠍
㠊DŽ಴ℸˈӴ㒳ⱘ᭹࡯࢓എߑ᭄᮴⊩⒵䎇៥Ӏⱘ㽕∖ˈᴀ㠍ঞᅗ㠍П䯈ⱘⳌᇍ䗳ᑺᇚ㹿ᓩܹࠄᮄⱘᓩ࡯
࢓എߑ᭄ЁDŽৠᯊˈᴀ㠍া᳝೼㟾㸠ࠄ⹡㟾⠽਼ೈⱘϔᅮ㣗ೈ‫ˈݙ‬Ϩᄬ೼⺄ᩲॅ䰽ᯊᠡ䳔㽕䞛প䙓⺄᥾
ᮑˈ಴ℸ䖬ᖙ乏Ў⹡㟾⠽䆒ᅮড়⧚ⱘᕅડ㣗ೈDŽ೼䙓䅽䖛⿟Ёˈ㠍㠊ⱘ᪡㒉ᗻ㛑гᑨ㹿㗗㰥DŽ㓐Ϟ᠔
䗄ˈᵘ䗴᭹࡯ߑ᭄བϟ˖

­ 0, ᔧ Ptarj (t )  P(t ) ! 0ᯊ
°
° § ·
U rep ( P ) ® 1 1 ˄4˅
°K ¨  ¸ , ᔧ0  Ptarj (t )  P (t )  A d U 0ᯊ
° ¨ Ptarj (t )  P(t )  A U 0 ¸
¯ © ¹
݊Ёˈ Ptar (t )  P(t ) 㸼⼎ᴀ㠍Ϣ⹡㟾⠽П䯈ⱘ䎱⾏˗ A Ўᴀ㠍೼ܼ䗳⒵㠉ᮟಲᯊⱘ䖯䎱ˈ㸼⼎њ㠍㠊ⱘ
j

᪡㒉⡍ᗻ˗ U0 Ў⹡㟾⠽ⱘᕅડ㣗ೈˈгৃҹ⿄Ў䮼ᾯ䎱⾏ˈ U0 ⱘؐḍ᥂⹡㟾⠽П䯈ⱘ‫݋‬ԧᚙ‫⹂މ‬ᅮˈ

ϔ㠀ᚙ‫މ‬ϟˈ೼䙓⺄᪡㒉Ё㽕∖೼ ̚ ⍋䞠䞛প䙓䅽㸠ࡼˈ಴ℸৃҹ䆒 U0 6 DŽ K Ўখ᭄ˈ⫼Ѣ䇗ᭈ᭹
࡯࢓എⱘ໻ᇣDŽ೒  ᠔⼎Ў᭹࡯࢓എⱘ ' ೒ˈ೒Ёˈ⹡㟾⠽തᷛЎ˄˅ˈ K 1 ˈ A 1.5 ˈ
U0 6 DŽ

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210 OMET 2006

೒ ᓩ࡯࢓എߑ᭄ ' ೒ˈ D 1 k 2 ೒ ᭹࡯࢓എߑ᭄ ' ೒ˈ K 1ˈ

䕀৥⚍തᷛЎ˄˅ A 1.5 ˈ U 0 6 ˈ
⹡㟾⠽തᷛЎ˄˅

Ң೒  Ёৃҹⳟߎˈ⹡㟾⠽തᷛ˄˅䰘䖥ⱘ࢓എᔎᑺ催ߎ݊Ҫതᷛ໘ⱘ࢓എᔎᑺˈ಴ℸˈ೼⹡㟾
⠽਼ೈˈᴀ㠍ᇚফࠄ᭹࡯ⱘ԰⫼ˈҢ㗠䙓⾏⹡㟾⠽DŽ
⬅݀ᓣ˄˅ৃᕫˈ᭹࡯ߑ᭄ৃҹ㸼⼎Ў˖

­ 0, ᔧ Ptarj (t )  P (t )  A ! U 0
°
Frep ( P ) ® ˄5˅
°’U rep ( P), ᔧ0  Ptarj (t )  P(t )  A d U 0
¯

­ 0, ᔧ Ptarj (t )  P (t )  A ! U 0
°
Frep ( P ) ® wU ( P ) ˄6˅
°  rep , ᔧ0  Ptarj (t )  P(t )  A d U 0
¯ wP

2.3 ࢓എড়៤

ḍ᥂࢓എ঴ࡴॳ⧚ˈৃᕫড়៤࢓എ˖

U ( P) U att ( P)  U rep ( P) ˄7˅

े˖

k
­ D Pwpi  P(t ) , ᔧ Ptarj (t )  P(t )  A ! U 0ᯊ
°
°
U ( P) ® k
§
1 1
· ˄8˅
°D Pwpi  P (t )  K ¨  ¸ , ᔧ  Ptarj (t )  P(t )  A d U0ᯊ
° ¨ P (t )  P(t )  A U 0 ¸
¯ © tarj ¹


ড়៤࢓എ࡯Ў˖

F ( P) Fatt ( P)  Frep ( P) ˄˅

े˖


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 OMET 2006 211
­ ’U att ( P), ᔧ Ptarj  P (t )  A ! U 0ᯊ
°
F ( P) ®
°’U att ( P )  ’U rep ( P), ᔧ  Ptarj  P(t ) d U 0ᯊ
¯
 
­ wU ( P)
°°  att , ᔧ Ptarj  P(t )  A ! U 0ᯊ
wP
 ®
° wU att ( P)  wU rep ( P) , ᔧ  P  P(t ) d U ᯊ ˄10
¯° wP wP
tar j 0
˅

3. APF ೼㠍㠊䙓⺄Ёⱘᑨ⫼

3.1 APF 䙓⺄ॳ⧚

㠍㠊೼㟾㸠Ёফ࡯ᚙ‫މ‬བ೒ DŽ೒Ё᠔⼎ⱘᰃ㠍㠊᠔ফⱘᓩ࡯ǃ᭹࡯ঞড়࡯ᚙ‫ˈމ‬ড়࡯ F ( P )
Ϣᓩ࡯ Fatt ( P) П䯈།㾦©Ў㠍㠊೼䞛প䙓⺄᥾ᮑ㾘䙓⹡㟾⠽ᯊⱘᬍ৥㾦DŽ

೒ 3.1㠍㠊೼࢓എЁফ࡯ᚙ‫މ‬
೼ t ᯊࠏᯊˈᴀ㠍㟾৥Ў FRXUVHফࠄⱘᓩ࡯੠᭹࡯ⱘড়࡯Ϣⳳ࣫ⱘ།㾦ЎžDŽབ೒  ᠔
⼎DŽ߭㠍㠊೼ t ᯊࠏᑨᬍ偊ⱘ㟾৥ЎžDŽ䱣ⴔ t ⱘব࣪ˈᴀ㠍ⱘԡ㕂ϡᮁᬍবˈড়࡯ F ( P ) Ϣⳳ࣫
˄71˅䯈ⱘ།㾦žгϡᮁব࣪ˈা㽕ᴀ㠍㟾৥㛑䱣ড়࡯ F ( P ) ᮍ৥ব࣪ˈ߭ᴀ㠍೼㟾㸠Ёৃҹ䙓
⾏㟾㒓Ёⱘ⹡㟾⠽ˈᑊ᳔㒜ࠄ䖒䅵ߦ㟾㒓ϞⱘϟϔϾ䕀৥⚍DŽ

3.2 ሔ䚼᳔ᇣ⚍䯂乬

Ӵ㒳 $3) ᄬ೼ሔ䚼᳔ᇣ⚍ⱘ䯂乬DŽᔧ㠍㠊Փ⫼ $3) ᮍ⊩䖯㸠䙓⺄᪡㒉ᯊӮߎ⦄ҹϟᚙ‫˖މ‬㠍

㠊䱋ܹ࢓എⱘሔ䚼ᵕᇣ⚍៪೼ሔ䚼ᵕᇣ⚍਼ೈᶤ޴Ͼԡ㕂਼ᳳᗻᕬᕞˈ᮴⊩ᕫߎϟϔᯊࠏⱘᑨ偊
㟾৥ˈ䗴៤⺄ᩲॅ䰽DŽ݊Џ㽕ॳ಴ᰃ⬅Ѣ䕀৥⚍ǃ⹡㟾⠽ঞᴀ㠍ϝ⚍݅㒓Ϩᓩ࡯໻ᇣㄝѢ᭹࡯໻
ᇣ䗴៤DŽབ೒  ᠔⼎DŽ

3.3 ሔ䚼᳔ᇣ⚍䯂乬

Ӵ㒳 $3) ᄬ೼ሔ䚼᳔ᇣ⚍ⱘ䯂乬DŽᔧ㠍㠊Փ⫼ $3) ᮍ⊩䖯㸠䙓⺄᪡㒉ᯊӮߎ⦄ҹϟᚙ‫˖މ‬㠍

㠊䱋ܹ࢓എⱘሔ䚼ᵕᇣ⚍៪೼ሔ䚼ᵕᇣ⚍਼ೈᶤ޴Ͼԡ㕂਼ᳳᗻᕬᕞˈ᮴⊩ᕫߎϟϔᯊࠏⱘᑨ偊
㟾৥ˈ䗴៤⺄ᩲॅ䰽DŽ݊Џ㽕ॳ಴ᰃ⬅Ѣ䕀৥⚍ǃ⹡㟾⠽ঞᴀ㠍ϝ⚍݅㒓Ϩᓩ࡯໻ᇣㄝѢ᭹࡯໻
ᇣ䗴៤DŽབ೒  ᠔⼎DŽ

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 ೒ 3.2㠍㠊㟾৥ǃ࢓എড়࡯ ೒ ሔ䚼᳔ᇣ⚍

ᴀ᭛䞛⫼Ā䱣ᴎ㟾৥ᡄࡼā⊩㾷‫އ‬ሔ䚼᳔ᇣ⚍䯂乬DŽ
ϔᮺথ⦄ᴀ㠍೼ϔᅮⱘᯊ䯈↉‫ݙ‬᠔ফⱘড়࡯Ў ˈ䗮䖛䱣ᴎѻ⫳ϔϾ e̚eⱘ䱣ᴎ㟾৥
ᡄࡼ ȌˈՓ㠍㠊‫ॳ⾏أ‬㟾㒓ˈՓড়࡯ϡㄝѢ ˈҢ㗠ᘶ໡ $3) ᇍ㠍㠊ⱘ᥻ࠊDŽ䆹䱣ᴎ㟾৥ᡄࡼᑨ
䞛⫼ে㠉ˈ䙓‫ܡ‬䖱ড㟾⍋㾘߭DŽ‫݋‬ԧ᥻ࠊㅫ⊩Ḛ೒བ೒  ᠔⼎DŽ

೒ 䱣ᴎ㟾৥ᡄࡼ⌕⿟

খ㗗᭛⤂˖
[1] Khatib, O. 1986. Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Robotics
Research, 5(1):90-98
[2] Ge, S.S and Cui, Y.J, Dynamic motion planning for mobile robots using potential field method. Autonomous
Robots 13, 207-222, 2002
[3] H. Haddad, M. Khatib, S. Laeroix and R. Chatila, Reactive Navigation in Outdoor Environments using
Potential Fields, Proceedings of the Intl. Conf. on Robotics and Automation, pp. 1232-1237, 1998
[4] Shingo Shimoda, Yoji Kuroda and Karl Iagnemma, Potential Field Navigation of High Speed Unmanned
Ground Vehicles on Uneven Terrain, Proceedings of IEEE, International Conference on Robotics and
Automation, 2005
[5] J.Barraquand and B. Langlois and J. Latombe, Numerical Potential Field Techniques for Robot Path
Planning, IEEE Trans. On Systems, Man, and Cybernetics, Vol.22, No.2, pp224-241, 1992
[6] S. Caselli, M. Reggiani, and R.Sbravati, Parallel Path Planning with Multiple Evasion Strategies,
Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1232-1237, 2002

212