Local Path Planning of Artificial Potential Field Based on Improved Ｒepulsive Model

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Local Path Planning of Artificial Potential Field Based on Improved Ｒepulsive Model

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[1]CHEN Jiangyi,YIN Xiaoyong,WANG Tingting,et al.Local Path Planning of Artificial Potential Field Based on Improved Ｒepulsive Model[J].Journal of Zhengzhou University (Engineering Science),2023,44(03):85-89.[doi:10.13705/j.issn.1671-6833.2022.06.015]

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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 44 Number of periods: 2023 03 Page number: 85-89 Column: Public date: 2023-04-30

Title:: Local Path Planning of Artificial Potential Field Based on Improved Ｒepulsive Model

Author(s):: CHEN Jiangyi; YIN Xiaoyong; WANG Tingting; QIN Dongchen; School of Mechanical and Power Engineering, Zhengzhou University, 450001, Zhengzhou, Henan

Keywords:: improved repulsion model; local path planning; repulsive force deflection; local optimum; safe dis; tanc

CLC:: U471. 15

DOI:: 10.13705/j.issn.1671-6833.2022.06.015

Abstract:: Aim to the traditional artificial potential field algorithm was easy to fall into the local optimum, this study proposed an artificial potential field method which could improve the repulsive force model. According to the relative relationship between vehicle velocity direction and obstacle position and the distance between obstacle and road boundary, the repulsive deflection direction and deflection angle were determined to avoid vehicle falling into local optimum. The repulsive field function was redesigned to introduce the safety distance of vehicle obstacle avoidance into the scope of repulsive force. Logarithmic function and longitudinal relative distance adjustment factor were introduced into the repulsive force function to reduce the curvature and total rotation angle of the planned path. The simulation results showed that the selection of repulsive deflection angle had a direct influence on the stability and safety of the local path when the artificial potential field method of the improved repulsive model is used for local path planning, and the appropriate repulsive deflection angle could avoid the occurrence of local optimum in path planning. When the vehicle need continuous obstacle avoidance in multi-obstacle environment, the total path angle and curvature peak planned by the improved repulsive force model decreasd significantly, which could effectively improve the driving safety index.

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Last Update: 2023-05-09