采用模糊及改进人工势场理论的车辆路径规划算法  

Improved Artificial Potential Field Method Based on Fuzzy Control Theory for Obstacle Avoidance Path Planning of Unmanned Vehicles

作　　者：邱朋 汪光 赵理[1] QIU Peng;WANG Guang;ZHAO Li(School of Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学机电工程学院,北京1000192

出　　处：《机械设计与制造》2023年第4期265-270,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金面上项目(51575044);北京市教委面上项目(KM201811232003)。

摘　　要：针对传统人工势场法在无人驾驶车辆避障路径规划中存在的局部极小点问题,提出了一种基于模糊控制理论的改进人工势场避障方法。该方法首先分析了无人车在行驶过程中局部极小点形成的原因,然后应用模糊控制理论实时调节引力与斥力的夹角,随着无人车与障碍物距离的减小,模糊控制器调节引力与斥力的夹角逐渐增大,进而使无人车辆安全驶出局部极小点。最后通过Matlab和Prescan联合仿真分析,利用MPC模型预测控制验证了该算法的可行性及准确性。仿真结果表明该算法能够规划出一条安全平滑的目标路径,实现了无人驾驶车辆稳定安全的路径规划。Aiming at the local minimum point problem in the unmanned vehicle obstacle avoidance path planning by the traditional artificial potential field method,an improved obstacle avoidance method for the unmanned vehicle is proposed.Firstly,the method analyzes the cause of the formation of local minimum points during the driving process of the unmanned vehicle.Then,the fuzzy control theory is used to adjust the angle between the direction of gravity and repulsive force to establish a local virtual target point,so that the unmanned vehicle can safely exit the local minimum,point.Finally,the feasibility and accuracy of the algorithm are verified by Matlab and Prescan.The simulation results show that the algorithm can plan a safe and smooth target path and realize the stable and safe path planning of unmanned vehicles.

关 键 词：人工势场算法 无人驾驶车辆 路径规划 模糊控制 

分 类 号：TH16[机械工程—机械制造及自动化] U461.91[机械工程—车辆工程]