Global path guided vehicle obstacle avoidance path planning with artificial potential field method
Abstract An artificial potential field method based on global path guidance (G‐APF) is proposed for target unreachability and local minima problems of the conventional artificial potential field (APF) method in complex environments with dynamic obstacles. First, for the target unreachability problem...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-03-01
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| Series: | IET Cyber-systems and Robotics |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/csy2.12082 |
| _version_ | 1797859424528760832 |
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| author | Yangde Chen Peiliang Wang Zichen Lin Chenhao Sun |
| author_facet | Yangde Chen Peiliang Wang Zichen Lin Chenhao Sun |
| author_sort | Yangde Chen |
| collection | DOAJ |
| description | Abstract An artificial potential field method based on global path guidance (G‐APF) is proposed for target unreachability and local minima problems of the conventional artificial potential field (APF) method in complex environments with dynamic obstacles. First, for the target unreachability problem, the global path attraction is added to the APF; second, an obstacle detection optimisation method is proposed and the optimal virtual target point is selected by setting the evaluation function to improve the local minima problem; finally, based on the obstacle detection optimisation method, the gravitational and repulsive processes are improved so that the path can pass through the narrow channel smoothly and remain collision‐free. Experiments show that the method optimises 40.8% of the total path corners, reduces 81.8% of the number of path oscillations, and shortens 4.3% of the path length in Map 1. It can be applied to the vehicle obstacle avoidance path planning problem in complex environments with dynamic obstacles. |
| first_indexed | 2024-04-09T21:29:15Z |
| format | Article |
| id | doaj.art-7ab299a1ff8840ceb8c111c767ac1aff |
| institution | Directory Open Access Journal |
| issn | 2631-6315 |
| language | English |
| last_indexed | 2024-04-09T21:29:15Z |
| publishDate | 2023-03-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Cyber-systems and Robotics |
| spelling | doaj.art-7ab299a1ff8840ceb8c111c767ac1aff2023-03-27T11:38:33ZengWileyIET Cyber-systems and Robotics2631-63152023-03-0151n/an/a10.1049/csy2.12082Global path guided vehicle obstacle avoidance path planning with artificial potential field methodYangde Chen0Peiliang Wang1Zichen Lin2Chenhao Sun3School of Engineering Huzhou University Huzhou Zhejiang ChinaSchool of Engineering Huzhou University Huzhou Zhejiang ChinaSchool of Engineering Huzhou University Huzhou Zhejiang ChinaSchool of Engineering Huzhou University Huzhou Zhejiang ChinaAbstract An artificial potential field method based on global path guidance (G‐APF) is proposed for target unreachability and local minima problems of the conventional artificial potential field (APF) method in complex environments with dynamic obstacles. First, for the target unreachability problem, the global path attraction is added to the APF; second, an obstacle detection optimisation method is proposed and the optimal virtual target point is selected by setting the evaluation function to improve the local minima problem; finally, based on the obstacle detection optimisation method, the gravitational and repulsive processes are improved so that the path can pass through the narrow channel smoothly and remain collision‐free. Experiments show that the method optimises 40.8% of the total path corners, reduces 81.8% of the number of path oscillations, and shortens 4.3% of the path length in Map 1. It can be applied to the vehicle obstacle avoidance path planning problem in complex environments with dynamic obstacles.https://doi.org/10.1049/csy2.12082automatic guided vehiclesobstacle avoidancepath planning |
| spellingShingle | Yangde Chen Peiliang Wang Zichen Lin Chenhao Sun Global path guided vehicle obstacle avoidance path planning with artificial potential field method IET Cyber-systems and Robotics automatic guided vehicles obstacle avoidance path planning |
| title | Global path guided vehicle obstacle avoidance path planning with artificial potential field method |
| title_full | Global path guided vehicle obstacle avoidance path planning with artificial potential field method |
| title_fullStr | Global path guided vehicle obstacle avoidance path planning with artificial potential field method |
| title_full_unstemmed | Global path guided vehicle obstacle avoidance path planning with artificial potential field method |
| title_short | Global path guided vehicle obstacle avoidance path planning with artificial potential field method |
| title_sort | global path guided vehicle obstacle avoidance path planning with artificial potential field method |
| topic | automatic guided vehicles obstacle avoidance path planning |
| url | https://doi.org/10.1049/csy2.12082 |
| work_keys_str_mv | AT yangdechen globalpathguidedvehicleobstacleavoidancepathplanningwithartificialpotentialfieldmethod AT peiliangwang globalpathguidedvehicleobstacleavoidancepathplanningwithartificialpotentialfieldmethod AT zichenlin globalpathguidedvehicleobstacleavoidancepathplanningwithartificialpotentialfieldmethod AT chenhaosun globalpathguidedvehicleobstacleavoidancepathplanningwithartificialpotentialfieldmethod |