Dynamic obstacle avoidance algorithm of ships in Bridge Area based on potential energy field:A Case study of Shanghai-Suzhou-Nantong Yangtze River Railway Bridge

With the large-scale,high-speed and professional development of ships,the risk of ship collision is increasingly serious,navigation safety of bridge area is a research focus.This paper proposes an intelligent collision avoidance method for ships in navigable waters of bridge area based on potential field theory,which dynamically plans the optimal collision avoidance routes of ships considering the restrictions of channels,piers and ships.The potential energy field in the water area of the ship-bridge-channel integrated bridge area is established according to the real-time navigation situation.A* algorithm is used to search the minimum potential energy path,and the main nodes of the minimum potential energy path are extracted as collision avoidance route nodes.Taking Shanghai-Suzhou-Nantong Yangtze River Railway Bridge as a case study,the results show that the method can realize the digital description of navigable waters in the bridge area,and the dynamically planned collision avoidance route can ensure the navigation safety of ships in the bridge area.This method can provide technical reference for intelligent collision avoidance of ships,and can be used for safety management of bridge area by maritime authorities.