ship_avoidance-master.zip
船舶避碰程序的源码，自主避障是无人船实现完全自主航行的核心技术，也是无人船的最终目的。
无人船在按照既定的全局航线航行时，不可避免地会遇到一些突发情况，例如：
会遇其他船只，遇到掉落的集装箱或岛礁等碍航物。针对这些突发情况，无人
船要能在环境感知系统探测到的环境信息的基础上，采用某种局部路径规划算
法，自主完成对这些障碍物的避让。人工势场作为一种常用的局部智能路径规
划算法，在机器人自主避障领域已经取得了很多研究成果
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