TY - GEN
T1 - Artificial potential field based receding horizon control for path planning
AU - Luo, Guan Chen
AU - Yu, Jian Qiao
AU - Zhang, Si Yu
AU - Zhang, Wei
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
KW - Artificial Potential Field
KW - Model Predictive Control
KW - Path Planning
KW - Receding Horizon Control
UR - https://www.scopus.com/pages/publications/84866670466
U2 - 10.1109/CCDC.2012.6244586
DO - 10.1109/CCDC.2012.6244586
M3 - Conference contribution
AN - SCOPUS:84866670466
SN - 9781457720727
T3 - Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012
SP - 3665
EP - 3669
BT - Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012
T2 - 2012 24th Chinese Control and Decision Conference, CCDC 2012
Y2 - 23 May 2012 through 25 May 2012
ER -