One of the key elements in automatic simulation of ship manoeuvring in confined waterways is route finding and collision avoidance. This paper presents a new practical method of automatic trajectory planning and collision avoidance based on an artificial potential field and speed vector. Collision prevention regulations and international navigational rules have been incorporated into the algorithm. The algorithm is fairly straightforward and simple to implement, but has been shown to be effective in finding safe paths for all ships concerned in complex situations. The method has been applied to some typical test cases and the results are very encouraging

This paper utilizes the artificial potential field method to solve ship intelligence navigation in restricted waters. Moreover, the limitations of the artificial potential field method are optimized in this paper, by providing the concept of turning points. The reasons and principles of setting them are proposed to improve algorithm of ship path planning in confined waters. The paper uses the Matlab program to simulate ship auto-navigation in Yangtze River entrance. Finally, the differences of two simulation results that adding the turning point and not are compared and analyzed. The simulation results indicate that ships could avoid all the obstacles in restricted waters safely, without crash, and find the optimal path.

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We demonstrated 22 W LD-pumped high-power continuous-wave (CW) deep red laser operations at 718.5 and 720.8 nm based on an a-cut Pr3+:YLF crystal. The output power of both polarized directions reached the watt-level without output power saturation. A single wavelength laser operated at 720.8 nm in the π-polarized direction was achieved, with a high output power of 4.5 W and high slope efficiency of approximately 41.5%. To the best of our knowledge, under LD-pumped conditions, the laser output power and slope efficiency are the highest at 721 nm. By using a compact optical glass plate as an intracavity etalon, we suppressed the π-polarized 720.8 nm laser emission. And σ-polarized single-wavelength laser emission at 718.5 nm was achieved, with a maximum output power of 1.45 W and a slope efficiency of approximately 17.8%. This is the first time that we have achieved the σ-polarized laser emission at 718.5 nm generated by Pr3+:YLF lasers.

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