Optimization of multi-vehicle obstacle avoidance based on improved artificial potential field method with PID control

Abstract

In the context of multi-vehicle formation, obstacle avoidance in unknown environments presents a number of challenges, including obstacles near the target, susceptibility to local minima, and dynamic obstacle avoidance. To address these issues in multi-vehicle formation control and obstacle avoidance within unknown environments, this paper uses PID control to optimize the potential field function of the artificial potential field method and conducts simulation experiments. The results demonstrate that the proposed algorithm achieves reductions of 39.7%, 41.9%, 24.8% and 32.0% in four efficiency functions (total iteration times, formation efficiency function value, energy consumption and standard deviation of iteration times) compared to other algorithms. The improved algorithm more effectively addresses the challenge of slow obstacle avoidance when vehicles approach the target and can handle unexpected situations such as local minima and dynamic obstacles. It achieves energy-efficient optimization for multi-vehicle obstacle avoidance in complex environments.