DefinePK

Abstract

In this paper, we describe the results of research on the planning of vehicle paths using a modified method of potential fields. A number of structural solutions for the modification of this method are proposed. In order to choose the most suitable solution, we carried out an analysis of the influence of various parameters of the method on its functionality. The concept of a local minimum of a virtual field is given as the main factor limiting the scope of using of artificial potential fields. Here we describe in detail and analyze the types of areas of local minima in which the path planning task cant be solved without modifying the method of potential fields. Based on the analysis results, an algorithm was developed for the getting vehicles out such areas using the ant optimization algorithm and virtual goals. The efficiency of this algorithm is confirmed by simulation of the process of vehicle motion in nondeterministic environments with extended obstacles of non-convex form.