针对基于人工势场（APF）的自动避碰（CA）算法的技术难点，从导航实践和实船应用的角度，建立了稳定可靠的自主CA技术框架。首先，考虑到船舶运动和《国际海上避碰规则》(COLREGS) 的约束，引入了改进的航线计划引导 APF (RPGAPF) 方法。其次，针对智能导航项目，精心设计了基于仿真的实船伴随测试系统（SRSATS），并安装在45.0 m长的船舶上。第三，进行了不同遭遇情况下的各种实船开环CA测试，同时进行了开环和闭环仿真测试。结果表明，模拟测试可以作为实船试验之前的先导，并且所提出的SRSATS可以用作实船测试的实际验证方法，以生成各种复杂的遭遇情况。相应实船和仿真测试的CA程序和结果产生了相似的趋势，改进的RPGAPF方法由于其可靠性、确定性和可重复性而可以应用于实船自动CA系统。本研究提出了基于 APF 的 CA 方法的完整解决方案，包括系统建模、集成和测试。研究结果为船舶CA研究提供了宝贵的见解，并有助于船舶智能化的提高。

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To address the technical difficulties of artificial potential filed (APF)-based automatic collision avoidance (CA) algorithms, a stable and reliable technological framework was established for autonomous CA from the perspectives of navigation practice and real-ship application. First, an improved route-plan-guided APF (RPGAPF) approach was introduced, considering the ship motion and constraints by the International Regulations for Preventing Collisions at Sea (COLREGS). Second, a simulation-based real-ship accompanying test system (SRSATS) was well-designed for the intelligent navigation projects and installed on a 45.0 m length ship. Third, various real-ship open-loop CA tests were conducted under different encountering situations, and concurrently, simulation testing in both open-loop and closed-loop were carried out. The results indicated that simulation tests may be used as precursors before real-ship trials, and that the proposed SRSATS can be employed as a practical verification method for real-ship testing to generate variety of complex encountering situations. The CA procedures and results for the corresponding real-ship and simulation tests produced similar trends, and the improved RPGAPF approach can be applied in real-ship automatic CA systems owing to its dependability, determinism, and repeatability. This study proposes a complete solution for the APF-base CA approach, including system modelling, integration and testing. The findings provide valuable insights into the ship CA research and contribute to the improvement of ship intelligence.