Study on Obstacle Avoidance to Mobile Ship in Sea-route

In order to solve the problem of obstacle avoidance to shipping in Greenhouse,this paper applies virtual force filed to making a model of obstacle avoidance,describes the relationship about virtual gravitation and virtual repulsion,which is between Target and Obstacle,and an implementation of obstacle avoidance,convert from moving coordinate to controlling variable.Test shows that the shipping can avoid obstacle in changeful circumstance.