Artificial Potential Field Based Receding Horizon Control for Path Planning

摘要：

In this work, a path planning algorithm integrating Artificial Potential Field (APF) approach and Receding Horizon Control (RHC) is proposed. The optimal solution to path planning according to APF approach and the computational efficiency in terms of RHC contribute to this algorithm. On account of the additivity of potential function, the abrupt variation of the environment, including the targets and the obstacles, is reduced to “virtual disturbance. An additional control term is involved in path planning to escape from local minima of APF. Meanwhile, the introduction of the additional control term accomplishes the description of specified property index other than distance and control energy. The proposed approach also supports an efficient frame for future cooperative task of multiple-UAV mission.

关键词： Path Planning Artificial Potential Field Receding Horizon Control Model Predictive Control

作者: Guan-chen LUO Jian-qiao YU Si-yu ZHANG Wei ZHANG

作者单位: School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081 Shanxi North Huifeng Mechatronical Co.Ltd, Changzhi 046012

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 3682-3686

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）