摘要
传统人工势场法仅适用于规避静态障碍物,而现实交通环境中障碍物一般都是动态的。基于传统人工势场法进行改进,在改进人工势场法加入速度元素,规划出动态路径。同时,考虑到汽车的转向特性,基于最小转向半径对算法进一步改进以满足汽车的转向行驶要求。仿真分析结果表明,基于改进人工势场法所规划出的路径可有效规避动态障碍物,并且满足汽车转向要求。
Traditional artificial potential field method is only suitable for avoiding static obstacles,but obstacles in real traffic environment are generally dynamic.This paper improves the traditional artificial potential field method by adding speed element and plans the dynamic path.Considering the steering characteristics of the vehicle,the artificial potential field method is further improved to meet the driving requirements of the intelligent vehicle on the planned path.The simulation results show that the path planned based on the improved artificial potential field method can effectively avoid dynamic obstacles and meet the requirements of vehicle steering.
作者
杨雪艳
钱宇彬
Yang Xueyan;Qian Yubin(School of Automotive and Mechanical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《农业装备与车辆工程》
2020年第1期85-88,共4页
Agricultural Equipment & Vehicle Engineering
关键词
人工势场法
智能汽车
动态路径
转向特性
artificial potential field method
intelligent vehicle
dynamic path
steering characteristics
