Optimal Path Planning for Unmanned Ground Vehicles Using Potential Field Method and Optimal Control Method

This paper presents an optimal path planning algorithm for unmanned ground vehicle (UGV) to control its direction during parking maneuvers by employing artificial potential field method (APF) combined with optimal control theory. A linear two-degree-of-freedom vehicle model with lateral and yaw motion is derived and simulated in MATLAB. The optimal control theory is employed to generate an optimal collision-free path For UGV from starting to the desired locations. The obstacle avoidance technique is mathematically modelled using APF including both the attractive and repulsive potential fields. The inclusion of these two potential fields ends up with a new potential field which is implemented to control the steering angle of the UGV to reach to its target location. Several simulations are carried out to check the fidelity of the proposed technique. The results demonstrate the generated path for the UGV can satisfy vehicle dynamics constraints, avoid obstacles and reach the target location.

Language

  • English

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Filing Info

  • Accession Number: 01670042
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Feb 8 2018 10:14AM