Frontiers in Signal Processing

Download PDF (1148 KB) PP. 68 - 74 Pub. Date: April 11, 2020

DOI: 10.22606/fsp.2020.42002

• Zihao Chen
  1 College of Electrical & Information Engineering, Southwest Minzu University, Chengdu 610041, China; 2 Guangxi Key Laboratory of Precision Navigation Technology and Application, Guilin University of Electronic Technology, Guilin 541004, China
• Liangfu Peng^*
  1 College of Electrical & Information Engineering, Southwest Minzu University, Chengdu 610041, China; 2 Guangxi Key Laboratory of Precision Navigation Technology and Application, Guilin University of Electronic Technology, Guilin 541004, China
• Yifan Wang
  College of Electrical & Information Engineering, Southwest Minzu University, Chengdu 610041, China

The artificial potential field uses the combined force of gravitational and repulsive forces to plan the motion path of the object. There is an area trapped in a local minimum and trap vibration. At the same time, it is difficult to predict and avoid the impact caused by moving obstacles. The complex potential field of the planar flow field is established in the planning space. The potential flow theory is used to combine multiple dynamic, static obstacles and the flow field lines formed by the target point. The modified reset potential and the complex velocity are superimposed, which can effectively avoid movement over a long distance obstacle. Add eddy currents and establish temporary target points to guide particles to escape from local minimum points and multi-obstacle trap areas. Simulation results show that the particle moves more flexibly in the flow field environment, which can avoid the occurrence of motion interruption and form a safer and smoother path.

complex potential function, complex velocity, temporary target point, obstacle environment analysis

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