Path planning based on the improved artificial potential field of coal mine dynamic target navigation
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Abstract
The mine obstacles is intensive and moving it caused great difficulties in devices path planning based on the original traditional artificial potential field method.Through the introduction of the relative velocity and relative acceleration field potential field function, it improved the gravitational potential field function, making the mine robots, unmanned aerial navigation devices in the path planning, mading it possible to avoid moving obstacles, and moving target in a local minimum point; For problem of path optimization, it put forward the concept of ‘total situation field line', making navigation devices in the local path planning at the same time, avoiding conflict of global planning and local planning, so as to select the optimal path for navigation.Method through the simulation and the ground simulation test, the results show that the method can help navigation devices to avoid moving obstacles to success in the coal mine, to avoid collision with moving obstacles lead to the failure path planning, finally it reaches the target location, navigation devices path planning task.
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