基于路径预测人工势场法的自动跟随小车路径规划

Path Planning Based on Path Prediction Artificial Potential Field Method for Automatic Following Trolley

针对自动跟随小车实际工作环境下目标点和障碍物具有可移动特征,在传统人工势场法的基础上提出一种具有动态路径预测功能的路径规划方法;通过实时采集和计算小车、目标点和障碍物的距离、运动速度和方向,预测未来三者之间可能的位置关系;根据目标点预测结果采用人工势场法确定接近目标点路径,根据预测的障碍点运行轨迹确定绕过障碍点的路径;将基于路径预测人工势场法与传统人工势场法进行仿真对比,结果表明该方法在跟随效率和避障能力上具有显著的提高。

Aiming at the movable characteristics of the target and obstacles in the working environment of the automatic following trolley,a path planning method with dynamic prediction is proposed based on the traditional artificial potential field method.The position relationship between the trolley,target and obstacles is predicted through the real-time acquisition and calculate of distance,velocity and direction.According to the prediction target position,the path to the target is determined by using the artificial potential field method and according to the prediction of the obstacle path,the bypass path is determined.The path prediction artificial potential field method is compared with the traditional artificial potential field method.The results show that this method has significant improvement in following efficiency and avoid obstacle ability.