Artificial Potential Guided Evolutionary Path Plan for Target Pursuit and Obstacle Avoidance
Jianda Han, Mark Campbell · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2003
Harmonic artificial potential (AP) is incorporated into an evolutionary algorithm (EA) for path planning. The integration is intended to achieve a convergent, semi-optimal, fast and efficient trajectory search mechanism with respect to both moving targets and moving obstacles. The AP works as a guidance for the EA path planner by limiting the searching area around the potential field. The vehicle dynamics and actuation constraints are also integrated into the algorithm so that the resulted path is smooth and feasible for real application. The demonstration shown is a vehicle chasing a moving target while avoiding a moving obstacle. Extensive simulations are conducted to demonstrate problems related with the pure EA-based path planner, and improvements after integrating AP.