基于路径预测人工势场法的自动跟随小车路径规划

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英文篇名：Path Planning Based on Path Prediction Artificial Potential Field Method for Automatic Following Trolley 作者：张化锴 ; 张曦文 ; 王清礼 英文作者：Zhang Huakai;Zhang Xiwen;Wang Qingli;Center of Gas Engine(Shenyang) Co,Ltd.;Liaoning Province Shiyan High School; 关键词：自动跟随 ; 人工势场法 ; 路径规划 ; 路径预测 英文关键词：automatic following;;artificial potential field method;;path planning;;path prediction 中文刊名：JZCK 英文刊名：Computer Measurement & Control 机构：中汽动力(沈阳)有限公司;辽宁省实验中学; 出版日期：2019-01-25 出版单位：计算机测量与控制 年：2019 期：v.27;No.244 语种：中文; 页：JZCK201901049 页数：4 CN：01 ISSN：11-4762/TP 分类号：243-246

摘要

针对自动跟随小车实际工作环境下目标点和障碍物具有可移动特征,在传统人工势场法的基础上提出一种具有动态路径预测功能的路径规划方法;通过实时采集和计算小车、目标点和障碍物的距离、运动速度和方向,预测未来三者之间可能的位置关系;根据目标点预测结果采用人工势场法确定接近目标点路径,根据预测的障碍点运行轨迹确定绕过障碍点的路径;将基于路径预测人工势场法与传统人工势场法进行仿真对比,结果表明该方法在跟随效率和避障能力上具有显著的提高。
        Aiming at the movable characteristics of the target and obstacles in the working environment of the automatic following trolley,apath planning method with dynamic prediction is proposed based on the traditional artificial potential field method.The position relationship between the trolley,target and obstacles is predicted through the real-time acquisition and calculate of distance,velocity and direction.According to the prediction target position,the path to the target is determined by using the artificial potential field method and according to the prediction of the obstacle path,the bypass path is determined.The path prediction artificial potential field method is compared with the traditional artificial potential field method.The results show that this method has significant improvement in following efficiency and avoid obstacle ability.

引文

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