机械科学与技术2024，Vol.43Issue(8)：1447-1453,7.DOI:10.13433/j.cnki.1003-8728.20230066
改进人工势场法的智能车路径规划
Improved Artificial Potential Field Method for Smart Vehicle Path Planning
摘要
Abstract
Artificial potential field method is often used in path planning.Aiming at the traditional artificial potential field algorithm in path planning,there are related problems such as excessive gravitational force in the early stage,unreachable target and local minimum value points,this paper proposes an improved artificial potential field algorithm.First of all,for the problem of excessive gravitational force in the early stage,a dynamic gain function is established as the dynamic gain coefficient of the gravitational function;Then the distance from the intelligent vehicle to the target point is introduced into the repulsive field function,so that the composition of the repulsive force is changed to solve the problem of unreachability of the target in the traditional artificial potential field method;Finally,in view of the problem of local minimum value points,the guiding force that facilitates smart cars to jump out of local minimum value points is increased.The results show that the improved artificial potential field method has been optimized compared to the traditional artificial potential field method in terms of both path length and travel time,and can effectively solve the problems above in the traditional artificial potential field method.关键词
智能车/路径规划/人工势场法/动态增益系数Key words
smart vehicle/path planning/artificial potential field method/dynamic gain coefficien分类
信息技术与安全科学引用本文复制引用
张宇迪,龚鹏,胡为..改进人工势场法的智能车路径规划[J].机械科学与技术,2024,43(8):1447-1453,7.基金项目
辽宁省"百千万人才工程"人选科技活动支持项目(2020921030) （2020921030）
