利用人工势场法实现无人艇二维路径规划

Two dimensional path planning for unmanned aerial vehicles based on artificial potential field method

无人艇作为海洋勘探及开发的重要工具,路径规划的效率及安全性是保障无人艇执行任务的关键。在路径规划中,如何实时避开移动及静态障碍物是路径规划重点关注的问题。无人艇路径规划由于计算能力的限制,势场变换采用二元函数,且在实际规划中函数系统为常量,算法复杂度较低,但最终结果往往会陷入局部最优解。本文改进传统的人工势场路径规划算法,引入指数级势场变化函数,降低势场的变换幅度,提高路径规划的准确性。

As an important tool for ocean exploration and development, the efficiency and safety of path planning is the key to the unmanned ship's mission. In the path planning, how to avoid moving and static obstacles in real time is the key problem of path planning. Unmanned ship path planning due to the limited computing power of potential field transformation by two yuan in the actual planning function, function of the system is constant, although the algorithm complexity is low, but the end result will tend to fall into the local optimal solution. In this paper, the traditional artificial potential field path planning algorithm is improved, and the exponential potential field is introduced to reduce the amplitude of the potential field.