基于改进人工势场法的无人驾驶车辆路径规划研究

Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering Pub Date : 1900-01-01 DOI:10.5220/0008869204310434

G. Ju, Weihai Sun, Hongjuan Hu, Yuanyuan Wu

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引用次数: 0

摘要

路径规划是无人驾驶车辆导航系统的重要任务之一。人工势场法具有结构简单、计算量少、鲁棒性强等优点，在实时避障轨迹控制中得到了广泛的应用。但也存在局部极小点和目标不可达的问题。针对人工势场法在无人车路径规划中的这一缺陷，对重力势场函数和斥力势场函数进行了改进，并通过仿真实验验证了算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Research on Unmanned Vehicle Path Planning based on Improved Artificial Potential Field Method

Path planning is one of the most important tasks in unmanned vehicle navigation system. Artificial potential field method has been widely used in real-time obstacle avoidance trajectory control due to its advantages of simple structure, less computation and strong robustness. However, it also has the problems of local minimum point and unreachable target. Aiming at this defect of artificial potential field method in unmanned vehicle path planning, the gravitational potential field function and repulsive potential field function were improved, and the effectiveness of the algorithm is verified by simulation experiments.

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Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering

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