Research on Improved Artificial Potential Field Ship-ice Collision Avoidance Method

Ships navigable in the polar regions are troubled by sea ice in a changing state of ice all year round, and collisions with sea ice can easily cause damage to the ship's hull. In order to solve the above problems, this paper proposes an improved artificial potential field method to avoid ship ice collision. The non-navigable area near the planned voyage is defined by the ice number and ice multiplier, which is regarded as a dynamic dangerous target. Then according to the time and space relationship between the non-navigable area and the ship, the collision risk factor is used to adjust the resultant force in the artificial potential field. Finally, a PID-based MMG ship maneuverability model is used to simulate the navigation process of the ship to solve the problem of local minimum in the artificial potential field. In this paper, simulation experiments on static and dynamic sea ice rinks show that this method will effectively realize the local collision avoidance of ship ice, and the ship can safely pass through the above scenes.