Research on Multi-solution Problem for Unmanned Ships Path Planning Based on Improved Artificial Potential Field
Weihan Li, Lipeng Wang, Zhi Zhang, Xiaobing Shang, Donghui Yuan, Lichao Jiang · 2023
Traditional Artificial Potential Field (TAPF) method can only work out a single solution when solving path planning problem. This paper proposes a method to obtain multiple solutions by reconstructing the potential field by means of a new repulsive function. Firstly, the attractive function is simplified to improve the unbalanced attraction in traditional potential field. Next, a line-obstacle model is introduced to modify the structure of the repulsive potential field. Finally, the path planning with multiple solutions can be achieved through a multi-round iterative strategy. After MATLAB simulations conducted, the results demonstrate that this strategy can achieve high success rates for multi-path planning in a single scenario, with smooth paths and strong robustness.