Unmanned Maneuvering Force Route Recommendation Method Based on Improved Artificial Potential Field Method

Abstract

This paper describes a path planning technique for the unmanned maneuvering sonar detection force in the presence of stationary obstacles. The planning consists of applying potential fields around obstacles and using this field to select a safe path for the detection force to follow. The advantage of using potential fields in path planning is that they offer a relatively fast and effective way to solve for safe paths around obstacles. When the repulsive force fields of multiple obstacle nodes in the set area are connected with each other, the traditional artificial potential field method can be used to plan that the maneuvering force is trapped in the local extreme value and cannot reach the destination position. In order to overcome the shortcoming of the traditional artificial potential field method, the whole potential field method evaluates the quality of local route planning, and controls the local potential field of route planning in feedback, and constructs the artificial potential field integrated with the whole potential field and the local potential field.