A path planning approach for unmanned surface vehicles based on improved artificial potential field algorithm and COLREGS

Path planning is a core issue of autonomous navigation for unmanned surface vehicles (USVs). To guarantee navigation safety, this paper proposes an Improved Artificial Potential Field (IAPF) algorithm for path planning of USVs. On the one hand, to solve the local optimal problem of artificial potential field (APF) algorithm, an adjustment factor is introduced in the repulsive potential field function. On the other hand, to ensure the collision avoidance safety in complex encounter scenarios, the International Regulations for Preventing Collisions at Sea (COLREGS) is utilized in the IAPF algorithm. The simulation experiments verify that the path planned via the IAPF algorithm is safer and more efficient than APF algorithm.