Path planning and tracking control method and device based on ship collision avoidance

The invention provides a path planning and tracking control method and device based on ship collision avoidance. The method comprises the following steps: acquiring the positions of a ship, a destination and an obstacle; the artificial potential field algorithm is improved according to the position of the ship, the position of the destination, the position of the obstacle and the quaternary ship field, and the collision avoidance path point of the ship is output according to the improved artificial potential field algorithm; fitting the collision avoidance path points according to a least square method to obtain a collision avoidance path trajectory from the ship to the destination; and controlling the ship according to the collision avoidance path trajectory to obtain a target course and a target position of the ship at each moment, and tracking the ship according to the target course and the target position. According to the ship collision avoidance path planning method, the collision avoidance path points