基于改进人工势场法的小车避障路径规划研究  

Research on Vehicle Obstacle Avoidance Path Planning Based on Improved Artificial Potential Field Method

作　　者：范玉龙 黄波 周仟 陈贺军 FAN Yu-long;HUANG Bo;ZHOU Qian;CHEN He-jun(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《软件导刊》2021年第7期38-42,共5页Software Guide

摘　　要：为了解决传统人工势场法存在的目标不可达、易陷入局部极小值问题,在传统人工势场法基础上提出改进后的人工势场法。针对目标不可达问题,当目标点在附近障碍物影响范围内时,通过动态改变障碍物影响范围,使得小车能够抵达目标点。为解决局部极小值问题,采用虚拟障碍物的方法,当小车陷入局部极值点时,通过设置合适的虚拟障碍物,由虚拟障碍物提供额外的逃逸力来引导小车逃离局部极值点。从MATLAB仿真结果可以看出,在单个和多个障碍物的实验条件下,改进后的算法可以准确、高效地完成路径规划,小车能够绕开局部极小值点并成功到达目标点,达到了预期的路径规划效果。In order to solve the problem that the traditional artificial potential field method can not reach the target and easily fall into the local minimum,an improved artificial potential field method is proposed based on the traditional artificial potential field method.For the problem of target unreachable,when the target point is within the influence range of nearby obstacles,the influence range of obstacles is changed dynamically to make the car reach the target point.In order to solve the local minimum problem,the virtual obstacle method is adopted.When the car falls into the local minimum point,appropriate virtual obstacles are set,and the virtual obstacles provide additional escape force to guide the car to escape from the local minimum point.From the MATLAB simulation results,it can be seen that under the experimental conditions of single and multiple obstacles,the improved algorithm can accurately and efficiently complete the path planning,and the car can bypass the local minimum point and successfully reach the target point.The simulation results show that the improved algorithm achieves the expected path planning effect.

关 键 词：路径规划 改进人工势场法 MATLAB仿真 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]