An improved artificial potential field algorithm with swerving force for USV path planning

The traditional artificial potential field algorithm (APF) used in the unmanned surface vehicle (USV) path planning has problems such as limited operation and easy to fall into local minimums. In this present work, an improved artificial potential field algorithm is proposed by introducing a swerving force, which is applied to the path planning of the USV. This method is capable of achieving a quick escape from a local minimum. Since the USV cannot turn sharply, an angular constraint is further added in the path calculation process, which makes the path smoother and more practical. The swerving force method (SFM) is implemented and compared with other current APF algorithms by simulation, and the results prove the feasibility and high efficiency of this proposed algorithm. In the simulation, the interference force is introduced to simulate the impact of the ocean current on the UA V. The results show that SFM still has a good effect. The short path between two points is successfully solved, and the smoothness and safety are taken into account at the same time.