基于改进人工势场法的无人船路径规划算法

Path Planning Algorithm for Unmanned Surface Vehicle Based on an Improved Artificial Potential Field Method

提出了一种改进的人工势场法,用指数函数代替二次函数构造势场函数,降低了势场强度的变化幅度,并在斥力势场函数中增加无人船与目标点的相对位置的一个因子,解决目标不可达问题;同时设置势场系数调整因子,引入2个判断条件确定无人船是否陷入局部最小值,在此基础上选择相应的势场系数,从而跳出局部极小值点.仿真结果证明了该方法的有效性.

In the study, an improved artificial potential field method was proposed. The quadratic function was replaced by an exponential function to construct the potential field function, which reduces the change rate of the potential field intensity. A factor of the distance between the USV in the current position and the destination was added into the potential field function, which can solve the problem that the USV can not reach the goal when the obstacles are close to the goal. Additionally, according to different conditions, several potential field coeffi- cient regulate factors were set and two judgment conditions were introduced to determine whether unmanned ship was involved in local minimum point, and on which the accordingly field coefficients were selected to solve the problem of local minimum point. The experimental results suggested that the proposed method was effective.