Path Planning for Particle Obstacle Avoidance in Potential Flow Field
Zihao Chen, Liangfu Peng, Yifan Wang · Frontiers in Signal Processing · 2020
The artificial potential field uses the combined force of gravitational and repulsive forces to plan the motion path of the object.There is an area trapped in a local minimum and trap vibration.At the same time, it is difficult to predict and avoid the impact caused by moving obstacles.The complex potential field of the planar flow field is established in the planning space.The potential flow theory is used to combine multiple dynamic, static obstacles and the flow field lines formed by the target point.The modified reset potential and the complex velocity are superimposed, which can effectively avoid movement over a long distance obstacle.Add eddy currents and establish temporary target points to guide particles to escape from local minimum points and multi-obstacle trap areas.Simulation results show that the particle moves more flexibly in the flow field environment, which can avoid the occurrence of motion interruption and form a safer and smoother path.