基于优化人工势场法的无人艇局部路径规划

Local path planning of unmanned boat based on optimized artificial potential field method

为了解决传统人工势场法在无人艇局部路径规划中容易陷入局部极小点、目标不可达以及无人艇航行过程中的安全问题,对传统的人工势场法进行了优化。通过引入一阈值解决了无人艇路径规划过程中因引力过大而与障碍物相撞的问题;提出模糊远近界点的概念解决了目标不可达问题;结合模拟退火算法,解决了局部最小值问题。当无人艇陷入局部最小点时,利用Metropolis准则以一定的概率跳出局部最小点。经过Matlab仿真结果表明,改进后的人工势场法可以帮助无人艇在多障碍物环境中安全到达目标点。

In order to solve the problems of the traditional artificial potential field method in the local path planning of the unmanned boat, it is easy to fall into the local minimum, the target is not reachable, and the safety of the unmanned boat during the navigation process, the traditional artificial potential field method is optimized. The introduction of a threshold solves the problem of collision with obstacles due to excessive gravity during the path planning process of the UAV. Proposes the concept of fuzzy far and near boundary points to solve the problem of unreachable targets;combines the simulated annealing algorithm to solve the local minimum value problem. When the UAV falls into the local minimum point, the Metropolis criterion is used to jump out of the local minimum point with a certain probability. The Matlab simulation results show that the improved artificial potential field method can help the UAV reach the target point safely in a multi-obstacle environment.