基于改进人工势场法的路径规划研究

Research on Path Planning Based on Improved Artificial Potential Field Method

针对传统人工势场法存在的目标点不可达、易陷入局部极小值、产生路径振荡等问题,提出一种改进的人工势场法用于路径规划。将当前点与目标点之间的欧几里得距离、障碍物半径以及安全距离引入斥力函数中,避免与障碍物相撞的同时解决了目标点不可达问题;当陷入局部极小值陷阱时,构建虚拟目标点逃离局部极小值;提出平衡点的概念,解决路径振荡问题;在前进过程中对障碍物进行碰撞预测,避免无效避障。以无人设备在二维平面的运动为例,进行仿真实验,结果表明:改进人工势场法有效解决了传统人工势场法存在的问题,与同类算法相比,能够在复杂环境中成功到达目标点,且算法性能有所提升。

Aiming at the problems of the traditional artificial potential field method,such as the target point is unreachable,easy to fall into the local minima,and generate path oscillation,an improved artificial potential field method is proposed for path planning.Firstly,the Euclidean distance between the current point and the target point,the radius of the obstacle and the safety distance are introduced into the repulsion function,which avoids collision with the obstacle and solves the problem of unreachable target point;secondly,when caught in the trap of local minima,the virtual target point is constructed to escape from the local minima;then,the concept of the equilibrium point is put forward to solve the problem of path oscillations;lastly,collision prediction is carried out to avoid ineffective obstacle avoidance in the process of moving forward.prediction to avoid ineffective obstacle avoidance.Taking the motion of unmanned equipment in the two dimensional plane as an example,simulation experiments are carried out,and the results show that:the improved artificial potential field method effectively solves the problems existing in the traditional artificial potential field method,and compared with similar algorithms,it is able to successfully arrive at the target point in the complex environment,and the performance of the algorithm has been improved.