Research on Improved Local Path Planning of Artificial Potential Field Based on Active Safety

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Research on Improved Local Path Planning of Artificial Potential Field Based on Active Safety

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[1]ZHANG Sanchuan,MING Zhu.Research on Improved Local Path Planning of Artificial Potential Field Based on Active Safety[J].Journal of Zhengzhou University (Engineering Science),2021,42(05):32-36.[doi:10.13705/j.issn.1671-6833.2021.05.008]

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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 42卷 Number of periods: 2021 05 Page number: 32-36 Column: Public date: 2021-09-10

Title:: Research on Improved Local Path Planning of Artificial Potential Field Based on Active Safety

Author(s):: ZHANG Sanchuan; MING Zhu; School of Mechanical and Power Engineering, Zhengzhou University;

Keywords:: intelligent network vehicle; local path planning; improved artificial potential field; local minimum; additional force

CLC:: -

DOI:: 10.13705/j.issn.1671-6833.2021.05.008

Abstract:: Local path planning is the key to the active safety of intelligent driving vehicles. In order to solve the theoretical problems of local minimum and unreachable target existing in the traditional artificial potential field method, in this paper the distance between the experimental vehicle and the obstacle is introduced as the repulsive force regulator based on the measurement function of the azimuth(θ0)of the obstacle by millimeter-wave radar, which makes sure that the repulsive forces near the target point are not too large. At the same time, the additional force of target gravity is introduced with direction angle θ (>θ0) and controlled by target distance k·S(M,Mg), which makes experimental vehicle break away from the minimum point. The numerical simulation results of MATLAB show that: when the gain coefficient of the additional force (k) is between 5～7, a stable and safe local planning path can be obtained, and no minimum point appears. The variation of the peak value of repulsive force and resultant force in the improved artificial potential field decreases exponentially with the increase of the distance between the obstacle and the starting point of path planning, the repulsive force of the experimental vehicle near the target point attenuates to 0, and the target is reachable; Compared with the traditional artificial potential field, the single-step calculation time is slightly increased, but there is no oscillation interval for the planned path. The simulation time is 0.26 s, and the timelessness is basically the same. The safety index is increased from 0.018 8 of the traditional artificial potential field method to 0.305 0, which greatly improves the safety of local path planning.

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Last Update: 2021-10-11