Unmanned vehicle path planning method based on artificial potential field method

Abstract

The invention provides an unmanned vehicle path planning method based on an artificial potential field method. The method comprises the following steps: 1) constructing a two-dimensional space model of unmanned vehicle driving; 2) establishing a virtual potential field; (3) enabling an unmanned vehicle to run for a unit step length l, judging whether the unmanned vehicle sinks into the local minimum point or not: if so, calling the step (4), otherwise, carrying out the step (5); 4) changing the component of a repulsive force on the X axis and then returning to the step 2) to restart; 5) judging whether the unmanned vehicle travels to an influence distance near the target point to cause that the target is unreachable: if so, calling the step 6), otherwise, carrying out the step 7); (6) introducing a safety distance <rho>s and a distance <rho>t between the unmanned vehicle and the target point into the repulsion potential field function, and returning to the step (2) for restarting; 7) judging whether the unmanned vehicle arrives at the target point or not: if so, stopping path planning and drawing a path, otherwise, returning to the step 2) for restarting. The method solves the problems that the unmanned vehicle is liable to fall into the local minimum point and the target is unreachable.

Description

technical field [0001] The invention relates to the technical field of smart cars, in particular to a path planning method for an unmanned vehicle based on an artificial potential field method. Background technique [0002] Path planning is a core technology in the research field of unmanned vehicles. It means that unmanned vehicles plan a collision-free route from the starting point to the target point according to the driving environment information detected by various sensors, and realize the path planning. optimize. Path planning mainly includes two steps: one is to establish an environment map including obstacle areas and free areas, and the other is to select an appropriate path search algorithm in the environment map to search for feasible paths quickly and in real time. The result of path planning plays a role of navigation for vehicle driving. It guides the vehicle to travel from the current location to the target location. There are many path planning algorithms...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to address the above problems and provide a path planning method for unmanned vehicles based on the artificial potential field method to solve the problems that unmanned vehicles are prone to fall into local minimum points and unreachable targets

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