Abstract
AbstractBased on the original artificial potential field method for path planning, this paper proposes an improved artificial potential field method for collaborative path planning. Using the reverse planning method, firstly, the track node coordinates of each vehicle node entering the target area are calculated according to the mission requirements. In the process of calculating the target function, the range constraint is used instead of the time constraint as the consideration of time coordination, and the communication constraints between vehicle nodes are considered, Take the track point entering the target area as the planning starting point and the launch point as the target point for planning. On the premise of meeting the communication conditions and taking into account the mission requirements of simultaneous arrival, the final track is generated. Simulation results show that this method can plan the track that meets the mission requirements on the basis of considering both time cooperation and space cooperation.KeywordsCooperative path planningArtificial potential field methodReverse planning
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