Path planning method based on artificial potential field method

Abstract

The invention, which relates to the technical field of mobile machinery, discloses a path planning method based on an artificial potential field method. The path planning method comprises: carrying out coordinate positioning; to be specific, establishing a plane rectangular coordinate system on an effective plane where a mobile machine and an obstacle are located and marking coordinates of the mobile machine and the obstacle. According to the path planning method, the obstacle is analyzed and calculated based on a potential field method and thus the mobile machine can find out an optimal walking trajectory in the environment, thereby avoiding the collision with the object by the mobile machine in walking. Meanwhile, the mobile machine can plan an optimal moving trajectory dynamically basedon the position of the obstacle in a dynamic environment being an environment in which the obstacle moves, so that the obstacle is avoided rapidly and movement to the target point is realized. Therefore, the manpower is saved and the work efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of mobile machinery, in particular to a path planning method based on an artificial potential field method. Background technique [0002] Path planning is one of the main research contents of motion planning. Motion planning is composed of path planning and trajectory planning. The sequence points or curves connecting the starting point and end point are called paths, and the strategy of forming paths is called path planning. Path planning It has a wide range of applications in many fields. Applications in the high-tech field include: autonomous non-collision action of mobile machinery; obstacle avoidance and penetration flight of drones; cruise missiles evading radar searches, anti-rebound attacks, and completing penetration blasting tasks, etc. Applications in the field of daily life include: GPS navigation; road planning based on GIS system; urban road network planning and navigation, etc. Applications ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a path planning method based on the artificial potential field method, which solves the problem that in the prior art, the path planning of mobile machinery is generally carried out by artificial setting or some simple algorithms. When the mobile environment is complex, obstacles are in a moving state, or it is difficult to manually obtain the current environmental data, it is difficult to give the optimal path through the mechanized algorithm in time, which increases manpower expenditure and reduces work efficiency.

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