Path planning for avoiding obstacles of autonomous vehicle using improved-artificial potential field
Kai Wang · Journal of Liaoning Technical University · 2014
In order to solve the problem of local minimum on the autonomous vehicle obstacle avoidance path planning using artificial potential field,this paper adopted the improved-artificial potential method to finish autonomous vehicle obstacle avoidance path planning.Through the method of adjusting force field,improving potential field function and dynamically changing of repulsion coefficient,the situation of local minimum has been improved.The experimental results show that the improved-method has advantages in reducing the probability of falling into local minimum,and enhance the accuracy of the obstacle avoidance.The conclusion of the research has a great significance in promoting the accuracy and timeliness in autonomous vehicle obstacle avoidance path planning under complicated environment.