Artificial potential field path planning method considering angular velocity constraint and improved repulsive force field
A technology of path planning and artificial potential field, applied in position/direction control, vehicle position/route/height control, non-electric variable control, etc. The effect of solving target unreachability, avoiding sudden change in angle, improving smoothness and motion feasibility
Active Publication Date: 2021-06-15
DALIAN UNIV OF TECH
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Problems solved by technology
Potential field design in complex obstacle scenarios usually produces many local optimum points. Under such working conditions, the robot will fall into local optimum points and cannot complete subsequent path planning.
[0004] (2) Regardless of angular velocity constraints
Since the traditional artificial potential field method does not consider the angular velocity constraint, the obtained path may not be feasible in the actual implementation process
[0005] (3) Time information not provided
However, the artificial potential field method itself is a geometry-based method rather than a trajectory planning method, which is not convenient for subsequent trajectory tracking
Method used
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[0047] The present invention will be further described below in conjunction with specific examples.
[0048]Consider an unmanned ship in Figure 4 The path planning problem in the 500m × 400m water area is shown. The position of the target point is set to V (400m, 200m), and the position and orientation angle of the starting point are set to G [0] (10m, 150m) and θ [0] = 0 degrees.
[0049] A path planning method for an artificial potential field considering angular velocity constraints and an improved repulsion field, comprising the following steps:
[0050] Step 1: Set algorithm parameters
[0051] Set the parameters required in the planning algorithm, specifically including: departure time T 0 = 0s, time step ΔT = 0.5s, unmanned ship speed v const =1m / s, the maximum angular velocity of the unmanned ship gravitational coefficient K att =15, repulsion coefficient K rep =5, the gravitational field linearity of the target point - quadratic threshold ρ g =500m, obstac...
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The invention provides an artificial potential field path planning method considering angular velocity constraint and an improved repulsive force field, and belongs to the field of path planning. According to the artificial potential field path planning method, a grid map is updated in real time according to a sensed obstacle in combination with the required navigation precision; in each iteration step, the ideal direction of the resultant force is calculated according to the relative positions of equipment, a target point and the obstacle; a new waypoint is generated according to the actual angular velocity constraint and velocity information of the equipment; and the steps are repeated until the equipment reaches the neighborhood of the target point, thereby completing the path planning process. According to the method, angular velocity constraint is introduced, so that angle mutation in a planned path is avoided, and the smoothness and motion feasibility of the path are improved; through an improved repulsive force field design mode, a target unreachable phenomenon possibly occurring in a traditional artificial potential field method is solved; and by introducing angular velocity and velocity information, an artificial potential field method is expanded into a trajectory planning method, so that a subsequent trajectory tracking process can be conveniently executed.
Description
technical field [0001] The invention belongs to the field of path planning and relates to an artificial potential field path planning method considering angular velocity constraints and improved repulsion field. Background technique [0002] Artificial potential field is a classical path planning method. The basic idea is that the movement of the robot in the environment is abstracted into the movement of particle particles in the artificial gravitational field, in which obstacles generate repulsion to the robot, target points generate gravity to the robot, and the robot avoids obstacles and arrives under the combined force. Target. The traditional artificial potential field method has good real-time calculation efficiency, and has been widely cited in the path planning problems of unmanned underwater vehicles, drones, robotic arms and other equipment, but it has the following obvious defects: [0003] (1) Trapped in a local optimum. Potential field design in complex obst...
Claims
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IPC IPC(8): G05D1/00
CPCG05D1/0088
Inventor 王昕炜刘洁彭海军陈飙松张盛李云鹏吕琛
Owner DALIAN UNIV OF TECH