Path Planning and Trajectory Optimization Based on Improved APF and Multi-Target

Aiming at the shortcomings of the path generated by the artificial potential field (APF) method, such as local minimum, target unreachability, and low path smoothness, an improved artificial potential field method is proposed. First, to reduce the collision risk and planning difficulty, based on known environmental information such as the location of obstacles and targets, the area with fewer obstacles is selected as the priority area for path planning. Second, to improve the path smoothness and reduce the computation amount, an adaptive step-size adjustment method based on the distance and angle relationship with obstacles within the prediction range is proposed. Third, in view of the effect on each other between obstacle, local minimum, and unsmooth path, a multi-target model considering the size and influence range of obstacles and an improved potential field function are proposed on the basis of the identified planning priority area. Finally, in order that the path is smooth enough to be tracked by autonomous mobile robots, a safe driving corridor without collision with obstacles is constructed on the planned path, and a trajectory fully constrained to the safe driving corridor is generated using the quadratic programming method. The simulation comparison experiments are carried out on matlab simulation software and the smoothness of IAPF is improved by an average of 97.3% as compared to traditional APF and 45.19% as compared to DWA. The sum of the proposed IAPF path planning and optimization time is improved by 45.1% on average compared to DWA path planning time.