Research on Unmanned Vehicle Path Planning based on Improved Artificial Potential Field Method

Guiling Ju, Weihai Sun, Hongjuan Hu, Yuanyuan Wu

2019

Abstract

Path planning is one of the most important tasks in unmanned vehicle navigation system. Artificial potential field method has been widely used in real-time obstacle avoidance trajectory control due to its advantages of simple structure, less computation and strong robustness. However, it also has the problems of local minimum point and unreachable target. Aiming at this defect of artificial potential field method in unmanned vehicle path planning, the gravitational potential field function and repulsive potential field function were improved, and the effectiveness of the algorithm is verified by simulation experiments.

Paper Citation

in Harvard Style

Ju G., Sun W., Hu H. and Wu Y. (2019). Research on Unmanned Vehicle Path Planning based on Improved Artificial Potential Field Method.In Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - Volume 1: ICVMEE, ISBN 978-989-758-412-1, pages 431-434. DOI: 10.5220/0008869204310434

in Bibtex Style

@conference{icvmee19,
author={Guiling Ju and Weihai Sun and Hongjuan Hu and Yuanyuan Wu},
title={Research on Unmanned Vehicle Path Planning based on Improved Artificial Potential Field Method},
booktitle={Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - Volume 1: ICVMEE,},
year={2019},
pages={431-434},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008869204310434},
isbn={978-989-758-412-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of 5th International Conference on Vehicle, Mechanical and Electrical Engineering - Volume 1: ICVMEE,
TI - Research on Unmanned Vehicle Path Planning based on Improved Artificial Potential Field Method
SN - 978-989-758-412-1
AU - Ju G.
AU - Sun W.
AU - Hu H.
AU - Wu Y.
PY - 2019
SP - 431
EP - 434
DO - 10.5220/0008869204310434