Path Planning for Surface Unmanned Vehicle Based on Multi-constraint Modified Artificial Potential Field Method
Xuchun Wu, Ping Deng, Peng Wang, Lin Li · 2023
Considering the shortcomings of traditional artificial potential field methods in path planning for small water areas, such as unreachable goals, low planning efficiency, and susceptibility to local oscillations, a multi-constraint modified artificial potential field algorithm is proposed. By introducing adjustment factors based on the relative distance between the target point and obstacles, a modification function is constructed to solve the problem of unreachable goals while ensuring that the original repulsive potential field does not cause significant distortion. Additionally, considering the relative motion speed and direction between obstacles and unmanned boats, a velocity repulsive potential field is built to improve planning efficiency. Finally, a rotation repulsive force is introduced to enhance the stability of unmanned boat navigation. Simulation results demonstrate that the proposed method effectively achieves path planning for unmanned surface vehicles in dynamic environments.