Dynamic Obstacle Avoidance Path Planning of Unmanned Vehicle Based on Improved APF

Aiming at the issue that the artificial potential field(APF) does not consider the velocity information of dynamic obstacles, which may lead to the issue that the obstacle avoidance path is too long when the speed of the obstacle is close to the unmanned vehicles, this paper designs a new artificial repulsion potential field function, which introduces the velocity information of the obstacle, so that the unmanned vehicle is more inclined to avoid from the opposite direction of the velocity of the obstacle. In addition, a distance factor is introduced on the basis of the new repulsion potential field function, to overcome the issue of unreachable targets in traditional algorithms. Finally, the simulation shows that the improved algorithm makes the unmanned vehicle choose a more reasonable route when avoiding dynamic obstacles, and achieve good dynamic obstacle avoidance effect when there are multiple different obstacles.