An Artificial Potential Field Path Planning Method Considering Angular Velocity Constraints and Improved Repulsion Field
A path planning, artificial potential field technology, applied in position/direction control, vehicle position/route/height control, instruments, etc., can solve problems such as ignoring angular velocity constraints, inconvenient trajectory tracking, infeasibility, etc., to improve smoothness and motion feasibility, solving target unreachable, avoiding the effect of sudden change in angle
Active Publication Date: 2022-02-18
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 a path planning method of an artificial potential field considering angular velocity constraints and an improved repulsion field, belonging to the field of path planning. The artificial potential field path planning method updates the grid map in real time according to the perceived obstacles and combined with the required navigation accuracy. In each iteration step, the ideal direction of the resultant force is calculated according to the relative positions of the equipment, the target point and the obstacle. Then combine the actual angular velocity constraints and velocity information of the equipment to generate new waypoints. Repeat the above steps until the equipment reaches the neighborhood of the target point, that is, the path planning process is completed. By introducing angular velocity constraints, the present invention avoids the sudden change of angle in the planned path, and improves the smoothness and motion feasibility of the path; through the improved repulsion field design method, it solves the phenomenon that the target may not be reachable in the traditional artificial potential field method; By introducing angular velocity and velocity information, the artificial potential field method is extended to a trajectory planning method, which facilitates the subsequent trajectory tracking process.
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