Research on the Optimization Algorithm of Dynamic Obstacle Avoidance Path Planning for Unmanned Vehicles
Shuting Chen, Kangtai Dong, Ziang Tian, Wenhan Feng · 2023
As one of the key parts of the core technology of autonomous driving, path planning has become a focus of research today. In this paper, we study the path planning by artificial potential field method, solve the problem of unreachable target, improve the repulsion potential field function to make the nonlinear attenuation of repulsion, and guide the vehicle to reach the target point smoothly.Aiming at the local optimal problem, the invasive weed algorithm is introduced, designs and establishes the fitness function, and guides the vehicle to escape from the trap by establishing the escape potential field.The dynamic objective point method is proposed to obtain a set of dynamic elements of subobjective points, and to establish the dynamic gravitational potential field optimization path planning process.Finally, the effect of the scheme is modified by simulation in a dynamic obstacle motion scenario.