Uncrewed Boat Path Planning Algorithm based on Evolutionary Potential Field Model in Dense Obstacle Environment

Abstract

In the trajectory planning of crewless ships, the artificial potential field method is commonly used. The results obtained using the classic potential field model for path design are not optimal and cannot fully meet the trajectory design requirements of uncrewed ships. This paper uses the evolutionary potential field model for trajectory planning. The evaluation formula of the potential path is combined with the differential evolution algorithm to evaluate and optimize the potential. A quadratic optimization smoothing algorithm is designed to limit the maximum turning angle of the uncrewed ship. Simulation experiments show that this method is effective and reliable.