Research on Trajectory Planning Model of Lane Changing based on Improved Artificial Potential Field Method

2018 ◽  
Author(s):  
Jie NI ◽  
Zhiqiang Liu ◽  
Fei Dong ◽  
Jingwen Han
Keyword(s):  
Trajectory Planning ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Planning Model ◽  
Lane Changing ◽  
Potential Field Method ◽  
Artificial Potential Field Method

Unmanned aerial vehicle trajectory planning by an integrated algorithm in a complex obstacle environment

2016 ◽  
Vol 231 (11) ◽  
pp. 2048-2067
Author(s):  
Siyu Zhang ◽  
Jianqiao Yu ◽  
Yuesong Mei ◽  
Huadong Sun ◽  
Yongbo Du
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Trajectory Planning ◽  
Potential Field ◽  
Direct Method ◽  
Field Method ◽  
Artificial Potential Field ◽  
Potential Field Method ◽  
Artificial Potential Field Method

Both the artificial potential field method and direct method for the optimal control problem have shortcomings in terms of effectiveness and computational complexity for the trajectory-planning problem. This paper proposes an integrated algorithm combining the artificial potential field method and direct method for planning in a complex obstacle-rich environment. More realistic unmanned aerial vehicle dynamics equations, which are rarely applied in the traditional artificial potential field method, are considered in this paper. Furthermore, an additional control force is introduced to transcribe the artificial potential field model into an optimal control problem, and the equality/inequality constraints on the description of the shape of the obstacles are substituted by the repulsive force originating from all the obstacles. The Legendre pseudospectral method and virtual motion camouflage are both utilized to solve the modified optimal control problem for comparison purposes. The algorithm presented in this paper improves the performance of solving the trajectory-planning problem in an obstacle-rich environment. In particular, the algorithm is suitable for addressing some conditions that cannot be considered by the traditional artificial potential field method or direct method individually, such as local extreme value points and a large numbers of constraints. Two simulation examples, a single cube-shaped obstacle and a different-shaped obstacle-rich environment, are solved to demonstrate the capabilities and performance of the proposed algorithm.

scholarly journals An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141879956 ◽  
Author(s):  
Wenrui Wang ◽  
Mingchao Zhu ◽  
Xiaoming Wang ◽  
Shuai He ◽  
Junpei He ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Trajectory Planning ◽  
Potential Field ◽  
Lyapunov Stability Theory ◽  
Field Method ◽  
Artificial Potential Field ◽  
Redundant Manipulators ◽  
Field Function ◽  
Potential Field Method ◽  
Artificial Potential Field Method

In this article, we present an improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators. Specifically, we not only focused on the position for the manipulator end-effectors but also considered their posture in the course of trajectory planning and obstacle avoidance. We introduced boundaries for Cartesian space components to optimize the attractive field function. Moreover, the manipulator achieved a reasonable speed to move to the target pose, regardless of the difference between the initial pose and target pose. We proved the stability using Lyapunov stability theory by introducing velocity feedforward, when the manipulator moved along a continuous trajectory. Considering the shape of the manipulator joints and obstacles, we set up the collision detection model by projecting the obstacles to link coordinates. In this case, establishing the repulsive field between the nearest points on every joint and obstacles with the closest distance was sufficient for achieving obstacle avoidance for redundant manipulators. The simulation results based on a nine-degree-of-freedom hyper-redundant manipulator, which was designed and made in our laboratory, fully substantiated the efficacy and superiority of the proposed method.

Route planning of intelligent bridge cranes based on an improved artificial potential field method

2021 ◽  
pp. 1-8
Author(s):  
Zhengyan Chang ◽  
Zhengwei Zhang ◽  
Qiang Deng ◽  
Zheren Li
Keyword(s):  
Potential Field ◽  
Autonomous Navigation ◽  
Route Planning ◽  
Simple Algorithm ◽  
Field Method ◽  
Artificial Potential Field ◽  
Planning Problem ◽  
Operating Characteristics ◽  
Potential Field Method ◽  
Artificial Potential Field Method

The artificial potential field method is usually applied to the path planning problem of driverless cars or mobile robots. For example, it has been applied for the obstacle avoidance problem of intelligent cars and the autonomous navigation system of storage robots. However, there have been few studies on its application to intelligent bridge cranes. The artificial potential field method has the advantages of being a simple algorithm with short operation times. However, it is also prone to problems of unreachable targets and local minima. Based on the analysis of the operating characteristics of bridge cranes, a two-dimensional intelligent running environment model of a bridge crane was constructed in MATLAB. According to the basic theory of the artificial potential field method, the double-layer artificial potential field method was deduced, and the path and track fuzzy processing method was proposed. These two methods were implemented in MATLAB simulations. The results showed that the improved artificial potential field method could avoid static obstacles efficiently.

scholarly journals Improved Artificial Potential Field and Dynamic Window Method for Amphibious Robot Fish Path Planning

2021 ◽  
Vol 11 (5) ◽  
pp. 2114
Author(s):  
Wenlin Yang ◽  
Peng Wu ◽  
Xiaoqi Zhou ◽  
Haoliang Lv ◽  
Xiaokai Liu ◽  
...  
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Local Minimum ◽  
Field Method ◽  
Artificial Potential Field ◽  
Evaluation Function ◽  
Potential Field Method ◽  
Robot Fish ◽  
Amphibious Robot ◽  
Artificial Potential Field Method

Aiming at the problems of “local minimum” and “unreachable target” existing in the traditional artificial potential field method in path planning, an improved artificial potential field method was proposed after analyzing the fundamental causes of the above problems. The method solved the problem of local minimum by modifying the direction and influence range of the gravitational field, increasing the virtual target and evaluation function, and the problem of unreachable targets is solved by increasing gravity. In view of the change of motion state of robot fish in amphibious environments, the improved artificial potential field method was fused with a dynamic window algorithm, and a dynamic window evaluation function of the optimal path was designed on the basis of establishing the dynamic equations of land and underwater. Then, the simulation experiment was designed under the environment of Matlab2019a. Firstly, the improved and traditional artificial potential field methods were compared. The results showed that the improved artificial potential field method could solve the above two problems well, shorten the operation time and path length, and have high efficiency. Secondly, the influence of different motion modes on path planning is verified, and the result also reflects that the amphibious robot can avoid obstacles flexibly and reach the target point accurately according to its own motion ability. This paper provides a new way of path planning for the amphibious robot.

Sign in / Sign up

Export Citation Format

Share Document