| 改进人工势场法的移动小车动态避障路径规划 |
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| 引用本文： | 唐小洁,丁一航,申勤,贾成芬.改进人工势场法的移动小车动态避障路径规划[J].教育技术导刊,2019,18(10):152-156. |
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| 作者姓名： | 唐小洁 丁一航 申勤 贾成芬 |
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| 作者单位： | 四川大学锦江学院 机械工程学院，四川 彭山 620860 |
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| 基金项目： | 四川省教育厅科研项目（18ZB0365） ；四川大学锦江学院青年科研基金项目（QNJJ-2017-A02） |
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| 摘 要： | 为使移动小车更好地适应复杂的实际行车道路环境，实现动态障碍物环境下的路径规划，并解决传统人工势场法中的局部最小值问题，提高驾驶安全性，改进传统人工势场法中的障碍物斥力势场模型，并增加了速度斥力势场模型和道路边界约束斥力势场模型，同时将障碍物连锁网络结构与随机目标点法相结合，加入传统人工势场算法中。仿真结果证明了该改进方法的有效性，移动小车能避开局部最小值陷阱到达目标点，实现动态避障路径规划。
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| 关 键 词： | 路径规划 人工势场法 动态环境 避障 |
| 收稿时间： | 2019-08-19 |
Dynamic Path Planning of Mobile Car Based on Improved Artificial Potential Field Method |
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| TANG Xiao-jie,DING Yi-hang,SHEN Qin,JIA Cheng-fen.Dynamic Path Planning of Mobile Car Based on Improved Artificial Potential Field Method[J].Introduction of Educational Technology,2019,18(10):152-156. |
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| Authors: | TANG Xiao-jie DING Yi-hang SHEN Qin JIA Cheng-fen |
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| Institution: | Jinjiang College， Sichuan University， Pengshan 620860， China |
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| Abstract: | Introducing path planning technology into vehicle driving will reduce the occurrence of traffic accidents and casualties， and improve driving safety. In order to make the mobile car better adapt to the complex actual driving environment and realize the path planning under the dynamic obstacle environment， this paper improves the barrier repulsion potential field in the traditional artificial potential field method， and increases the velocity repulsion potential field and the road boundary constraint repulsion potential field. In order to solve the local minimum problem， the obstacle chain network structure and random target point method are combined and added into the traditional artificial potential field algorithm. The simulation results show that the improved method is effective. The mobile car can escape the local minimum trap and realize dynamic obstacle avoidance path planning. |
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| Keywords: | path planning artificial potential field method dynamic environment obstacle avoidance |
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