LBS中改进人工势场法的动态目标路径规划研究

Improved artificial potential field method for dynamic target path planning in LBS

随着科技的发展,人类活动的范围越来越广阔,越来越不具有确定性,这种范围的扩大和目的的不确定性为基于位置的服务(location-based service,LBS)带了无限商机,针对LBS系统中动态目标进行路径规划研究,在进行连通性分析的基础上提出一种改进式人工势场法。首先,对障碍物的连通性进行分析,根据几何拓扑学得到可行解域;其次,在可行解域中进行路径预规划,可以防止传统人工势场法容易陷入局部最优解而无法跳出的问题发生;随后,在传统人工势场法的势场函数中加入速度因子,使用户可以躲避动态障碍物并到达动态目标,同时进行最大转弯角度设定,微调生成路径,以便获得相对平滑的路径。最后进行仿真实验,仿真实验首先证明本文所提算法在LBS系统中的有效性,其次将所提算法与单纯改进人工势场法相比,实验证明该算法减少了路径距离和追踪时间,证明了所提算法的优越性。

With the development of science and technology, the scope of human activities is becoming more and more broad and less determinative. The expansion of this scope and the uncertainty of purpose provide location-based service （LBS） with unlimited business opportunities. In order to solve the problem of connectivity in the LBS system, an improved artificial potential field method is proposed. Focus on the path planning of dynamic targets in LBS system, an improved artificial potential field method is proposed based on the analysis of connectivity. Firstly, the connectivity of the obstacle is analyzed, and the feasible solution domain is obtained according to the geometric topology; Secondly, the path pre-planning in the feasible solution domain can prevent the traditional artificial potential field method from falling into the local optimal solution and can not jump out. Then the speed factor is added to the potential field function of the traditional artificial potential field method, so that the user can avoid the dynamic obstacle and reach the dynamic target, while setting the maximum turning angle and fine- tuning the generating path so as to obtain a relatively smooth path. Finally, the simulation experiment is carried out. The simulation results show that the proposed algorithm is effective in the LBS system. And compared with the simple improvement of the artificial potential field method, the experiments show that the algorithm reduces the path distance and tracking time, and proves the superiority of the proposed algorithm.