智能车避障路径规划方法研究

避障路径规划是智能车技术的关键部分,对智能车研究具有重大意义,正确的选择规划方法至关重要。本文首先初步选定人工势场法规划路径,仿真得知传统人工势场法规划出的路径存在局部最优、碰撞及达不到目标点的问题。因此提出改进人工势场法,通过改变势场函数和设定初始条件来解决此问题。最后,为了规划出能够同时避开静态和动态障碍物且能到达目标点的理想路径,在改进人工势场法中加入速度元素,经过仿真,证明了基于速度的改进人工势场法在智能车避障路径规划中的可行性和优越性。

Study of Obstacle Avoidance Path Planning Method for Intelligent Vehicle

Obstacle avoidance path planning which is the key part of intelligent vehicle technology, is of great significance to the study of intelligent vehicle,it’s very important to choice a right planning method. First, this paper selected the artificial potential field method to draw the path, and the simulation results show that the traditional artificial potential field to draw the path of the existing problems of reach target, local optimum and collision problem. Therefore, this paper put forward the improved artificial potential field method, by changing the potential field functions and set the initial conditions to solve the problems. Finally, in order to plan the ideal path that can simultaneously avoid the static and dynamic obstacles and reach the target, adding speed elements in improved artificial potential field method, through the simula-tion,proved the feasibility and superiority of the improved artificial potential field method based on veloci-ty in obstacle avoidance path planning of the intelligent vehicle.