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

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.