Research on Obstacle Avoidance of Small Cruise Vehicle Based on Improved Artificial Potential Field Method

Abstract

To enhance the small cruise vehicle in the complex environment under the ice autonomous obstacle avoidance ability, the artificial potential field algorithm was improved in this paper. Firstly, the idea and principle of the traditional artificial potential field obstacle avoidance algorithm as well as its existing defects such as local minimum are analyzed. Then the local minimum defect of the traditional artificial potential field method is solved by optimizing the repulsive potential field function and adjusting the repulsive force component’s direction on the coordinate axis. Then, the improved artificial potential field obstacle avoidance algorithm is simulated by using MATLAB software. The experimental results show that the improved algorithm can make the cruiser safely and accurately sail to the target position without falling into the local minimum value, which proves that the improved artificial potential field obstacle avoidance algorithm can work safely and stably.