Local minimum enhanced artificial potential field method
Zhihao Bai · Applied and Computational Engineering · 2023
Currently, the artificial potential field technique is commonly used in vehicle obstacle avoidance and route planning. However, this method may lead to local minima where the gravitational force and repulsive force are equal during the path planning process, and thus the target location cannot be reached. This paper suggests an approach to enhance the artificial potential field method in light of this. First, the calculation method of the attraction field in the traditional artificial potential field is modified for resolving the issue of unreachable targets. Second, for the local minimum, the path calculation is recovered by modifying the repulsive force range of obstacles and creating a virtual obstacle point, and applying an additional force to get rid of the gravitational force and repulsive force balance. The simulation results check the effectiveness of the designed method, which can solve the cases of unreachable targets and local minima and produce reasonable planned paths.