Aiming at the problems of the traditional artificial potential field method,such as the target point is unreachable,easy to fall into the local minima,and generate path oscillation,an improved artifi-cial potential field method is proposed for path planning.Firstly,the Euclidean distance between the cur-rent point and the target point,the radius of the obstacle and the safety distance are introduced into the repulsion function,which avoids collision with the obstacle and solves the problem of unreachable target point;secondly,when caught in the trap of local minima,the virtual target point is constructed to escape from the local minima;then,the concept of the equilibrium point is put forward to solve the problem of path oscillations;lastly,collision prediction is carried out to avoid ineffective obstacle avoidance in the process of moving forward.prediction to avoid ineffective obstacle avoidance.Taking the motion of un-manned equipment in the two-dimensional plane as an example,simulation experiments are carried out,and the results show that:the improved artificial potential field method effectively solves the problems ex-isting in the traditional artificial potential field method,and compared with similar algorithms,it is able to successfully arrive at the target point in the complex environment,and the performance of the algorithm has been improved.
关键词
人工势场法/路径规划/目标点不可达/虚拟目标点/碰撞预测
Key words
artificial potential field method/path planning/goal point unreachability/virtual goal point/crash prediction
维普
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