Study On Realization In Algorithm Of Motion Planning For Autonomic Tugboat In The Visual System Of Marine Simulator

With the rapid development of world's economic and marine enterprise, vessels become larger and larger. Under this trend, manipulating vessels becomes difficult more and more, particularly under the conditions of ship's entering or leaving the port> drawing alongside or leaving the wharf or mooring or leaving the buoy. Because of the poor effect of the rudder as a result of the low vessels' speed and very limited space for operating, the operator can't manipulate freely the vessels and avoid the collisions with other vessels or obstacles only by their own power. Now, it's highly necessary to using correctly one or many tugboats simultaneous. For this reason, it's very important for Marine Simulator to join tugboat scene to the Scene System.In allusion to all of the autonomous tugboats within the system of Marine Simulator being in a complicated dynamic environment, an virtual force guidance system for dynamic motion planning based on Intranet transmitting and man-made field of potential is proposed. This method is developed to work with static path originating and controlling and can effectively navigate the tugboat and avoid the collision with obstacle. The essential thought of navigating algorithm is the abstract force system determine the to-be motion of tugboat based on the motion information of the tugboat and the information from environment. The result of emulation indicates that this method is nice in the quality of real-time. Tugboat can avoid obstacle well > truly and arrive the destination.Because of the ingenious design and simple, efficient realization of this path planning algorithm, one or many autonomous tugboats can be joined to the Scene System. And all of these autonomous tugboats will be able to move freely and avoid obstacles precisely. Thus, the history of no tugboat scene within Marine Simulator system passed. The quality in completion, perfection and practicality of the Scene System is improved considerably. And Marine Simulator with Scene will be able to give much better service to the fields as teaching , scientific research, and so on.