Unmanned Vehicle Route Planning Based on Improved Artificial Potential Field Method
Min Zha, Zhiwen Wang, Jing Feng, Xinliang Cao · Journal of Physics Conference Series · 2020
Abstract Aiming at the defect of target unreachable and local minimum in the unmanned path planning by traditional artificial potential field method, an improved artificial potential field method is proposed in this paper. By rotating the repulsive force by a certain angle, the unmanned vehicle jumps out of the local minimum point, and adopts the safety distance and the adjustment factor in the repulsive field to solve the problem of the target unreachability, and also ensures the safety of unmanned vehicles during obstacle avoidance. The experimental results show that the improved artificial potential field method can better achieve the safe obstacle avoidance of driverless vehicles and effectively plan the optimal target path.