TRAJECTORY PATH PLANNING BASED ON POTENTIAL FIELD

The trajectry path planning of tricycle autonomous vehicle(AV)based on potential field is discussed in thispaper.The imaginary potential field force produced by obstacles and goal is used to control the movement of AV.First,we propose two existance conditions of potential field force,including distance condition anddirection condition,and calculating method of potential field force according to these two conditions.Then we consider the trajectory path planning of rod regarded as the simplication of AV,containing the moving lawof rod and AV,the method for calculating weighted resultant force and its control function,and moving location etc..Finally,the simulation result is presented.It is in this paper that the potential field method is firstapplied to the path planning of tricycle AV.