A NOVEL ARTIFICIAL POTENTIAL FIELD APPROACH CONSIDERING ANGULAR ACCELERATION CONSTRAINT, 24-30.
Mingxiao Sun, Zhangjie Yuan, Yongde Zhang, Liqiang Zhen, Tiantian Luan, Xiaoliang Yuan, and Xiaogang Li
Keywords
Artificial potential field approach (APFA), unmanned surface vehicle (USV), path planning, local minimum
Abstract
An improved artificial potential field approach (APFA) is proposed
for unmanned surface vehicle (USV) in path planning. The proposed
approach can effectively avoid easily falling into local minima, also,
plan the optimal path. Firstly, a map of the Marine environment
is established, and the obstacle is treated with circular expansion.
Especially, the expansion coefficient is introduced to ensure the
safety of navigation. Secondly, aiming at the local minimum problem,
a rotation angle formula satisfying its own maximum rotation angle
and angular acceleration constraints is constructed, so that a path
to avoid local minimum is planned. Moreover, the local minimum of
the complex environment is considered, the virtual repulsive force
potential field is constructed to generate virtual repulsive force on
USV to avoid local minimum. Numerical simulation results show
that the proposed approach can complete path planning under
different complex and special environments.
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