Enhanced artificial potential field for MASS’s path planning navigation in restricted waterways

The navigation of Maritime Autonomous Surface Ships (MASS) in complex maritime environments requires robust algorithms for effective path planning. This study presents a novel real-time path-planning approach designed specifically for MASS operating within confined water passages, utilizing an enhanced Artificial Potential Fields (APF) framework. Initially, a repulsive potential field is developed, integrating Distance to Closest Point of Approach (DCPA) and Time to Closest Point of Approach (TCPA), employing logarithmic functions to enhance MASS maneuverability in dynamically avoiding obstacles, diverging from traditional power functions. Subsequently, to ensure adherence to the International Regulations for Preventing Collisions at Sea (COLREGs) within constrained waterways, a COLREGs potential field and deceleration strategy are introduced for MASS. Additionally, the integration of a channel boundary repulsion field effectively restricts vessel movements within confined passages. Simulation tests across five cases, representing typical restricted waterways, validate the efficacy of the proposed methodology. The results demonstrate the capability of enabling MASS to adeptly perform real-time path-planning tasks within constrained waterway corridors.