| 改进人工势场法在无人车避障中的应用 |
| |
| 引用本文： | 谭宝成,崔佳超. 改进人工势场法在无人车避障中的应用[J]. 西安工业大学学报, 2014, 0(12): 1007-1011,1017 |
| |
| 作者姓名： | 谭宝成 崔佳超 |
| |
| 作者单位： | 西安工业大学电子信息工程学院 |
| |
| 基金项目： | 中央财政支持地方高校专项发展基金(CXY1080) |
| |
| 摘 要： | 为了解决传统人工势场算法在无人车避障应用中虚拟势场作用域固定、避障角度过大的问题,建立了车辆避障模型,对障碍物进行了分类,比较了传统势场和改进势场的异同,在此基础上改进了人工势场法,优化了安全避障中人工势场圆形虚拟力场作用域模型.仿真结果表明:改进人工势场法使无人驾驶车辆在避障系统中安全避障转角跳变减小,能够满足结构化道路避障要求,实现了小角度、大半径避障.
|
| 关 键 词： | 人工势场法 无人车 避障模型 结构化道路 |
Application of Improved Artificial Potential Field Method in Intelligent Collision Avoidance System on Structured Road |
| |
| TAN Bao-cheng;CUI Jia-chao. Application of Improved Artificial Potential Field Method in Intelligent Collision Avoidance System on Structured Road[J]. Journal of Xi'an Institute of Technology, 2014, 0(12): 1007-1011,1017 |
| |
| Authors: | TAN Bao-cheng CUI Jia-chao |
| |
| Affiliation: | TAN Bao-cheng;CUI Jia-chao;School of Electronic Information Engineering,Xi’an Technological University; |
| |
| Abstract: | In order to solve the problem of fixed virtual potential field range area,too big avoidance angle in the artificial potential field method in collision avoidance system on structured road.The model of vehicle obstacle avoidance was established for artificial potential field model.The obstruction can be divided into two categories which are safe obstacle avoidance and emergency obstacle avoidance.For safe obstacle avoidance,the round virtual force field scope model of traditional artificial potential field was improved,which made unmanned vehicle have smaller obstacle avoidance angle in obstacle avoidance system.The requirements of the obstacle avoidance on structured road were met.Finally,the simulation verified the effectiveness of this method. |
| |
| Keywords: | structural road artificial potential field intelligent collision avoidance system unmanned vehicles |
| 本文献已被 CNKI 维普 等数据库收录！ |
