An Improved Artificial Potential Field Escape Method with Weight Adjustment
Hongyun Wang, Min Jie Gao, Weiwei Gao, Yì Wáng, Haijun Zhou · Journal of Physics Conference Series · 2021
Abstract Aiming at the problems of obstacle avoidance and bullet avoidance during the patrol swarm, this paper analyzed the defects of the classical artificial potential field, proposed an adjustable escape method, which establish the relationship between the adjustment coefficient and the distance. This method avoid too large or too small escape force that get the bullet into new local shock problem near the target. Then given the weight calculation and parameter selection method, restricted the escape motion by kinematics according to the constraints in the actual motion. This improved method can effecting solve the problem of avoidance in dynamic and complex environment.