Local Path Planning for Autonomous Vehicle Based on Artificial Potential Field Algorithm
Wang Hongchao, Weiwei Zhang, Xuncheng Wu, Wendi Weng, Zhengyun Meng, Qiaoming Gao · 2019 3rd International Conference on Electronic Information Technology and Computer Engineering (EITCE) · 2019
Applying the artificial potential field algorithm to the intelligent vehicle path planning, it is proposed to use the minimum safe distance as the symmetry according to the sinusoidal obstacle avoidance model. The method of constructing the obstacle point model ensures that the local target point is on the axis of symmetry, and the steering angle is made by the intelligent vehicle traveling speed and the turning radius. Finally, we verified the feasibility and accuracy of the algorithm through the joint simulation of Prescan and Matlab software. The simulation results show that the algorithm can plan a smooth target path and realize the smooth and safe path planning and tracking control of intelligent vehicles.