基于小步人工势场法的路径规划算法改进

2022 9th International Conference on Dependable Systems and Their Applications (DSA) Pub Date : 2022-08-01 DOI:10.1109/DSA56465.2022.00116

M. Shi, Junfeng Nie

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引用次数: 0

摘要

在控制多智能体行为的过程中，智能体避障算法与智能体之间的协同控制是实现多智能体任务的必要环节。基于人工势场法，对多智能体编队进行编队避障控制，分析其步长对路径规划的影响，提出两种路径优化方法，并分析其优缺点。最后，通过通知RRT*算法对采样路径进行质量检查和重新优化。

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Improvement of Path Planning Algorithm based on Small Step Artificial Potential Field Method

In the process of controlling the behavior of multi-agent, the cooperative control between the agent obstacle avoidance algorithm and the agent is a necessary link to realize the task of multi-agent. Based on the artificial potential field method, this paper conducts formation obstacle avoidance control for multi-agent formations, analyzes the influence of its step size on path planning, and proposes two methods to optimize the path and analyze its advantages and disadvantages. Finally, the sampling path is quality checked and re-optimized by the informed RRT* algorithm.

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来源期刊

2022 9th International Conference on Dependable Systems and Their Applications (DSA)

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