Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 11
3287-3291

Path planning for logistics unmanned delivery vehicles based on improved artificial potential field method

Liu Ke
Dong Hongzhao
Zhang Limei
Du Qiuyue
School of Artificial Intelligence, Beijing Technology & Business University, Beijing 100048, China
DOI: 10.19734/j.issn.1001-3695.2022.04.0191

Abstract

When confronted with a multi-barrier environment, the traditional artificial potential field method is prone to fall into a local optimum, resulting in an increase in path length and number of inflection points, and thus a significant reduction in distribution efficiency. As a result, this paper combined relative position detection strategy and boundary condition judgment decision, and used autonomous virtual circle field design to correct the defects of path length and number of inflection points in complex environments, taking into account the characteristics of dense and discrete distribution of multiple barriers in complex environments. It also established a four-wheel steering vehicle stability controller based on the model prediction theory in order to achieve accurate tracking control of the ideal model path, and conducted simulated obstacle avoidance tests with MATLAB software, it simulated the key element characteristics of the path search with the traditional algorithm for comparison. In comparison to the traditional algorithm, the proposed improved artificial potential field algorithm reduces the number of global inflection points by 10, the path is shorter by 21.06%, and the tracking deviation rate is less than 6%. The research addresses the issues of vehicle multi-obstacle environment adaptation and obstacle avoidance safety, as well as providing theoretical guidance for improving the unmanned delivery vehicle planning algorithm.

Foundation Support

国家自然科学基金资助项目(51805009,52078005)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.04.0191
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 11
Section: Algorithm Research & Explore
Pages: 3287-3291
Serial Number: 1001-3695(2022)11-013-3287-05

Publish History

[2022-07-04] Accepted Paper
[2022-11-05] Printed Article

Cite This Article

刘珂, 董洪昭, 张丽梅, 等. 基于改进人工势场法的物流无人配送车路径规划 [J]. 计算机应用研究, 2022, 39 (11): 3287-3291. (Liu Ke, Dong Hongzhao, Zhang Limei, et al. Path planning for logistics unmanned delivery vehicles based on improved artificial potential field method [J]. Application Research of Computers, 2022, 39 (11): 3287-3291. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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