基于人工势场法的复杂环境下多无人车避障与编队控制.pdfVIP

工程科学学报，第

47

卷，第

2

期：364−373，2025

年

2

月

Chinese

Journal

of

Engineering,

Vol.

47,

No.

2:

364−373,

February

2025

/10.13374/j.issn2095-9389.2024.05.05.002;

基于人工势场法的复杂环境下多无人车避障与编队控制

✉

梅艺林，崔立堃，胡雪岩，胡广琦，王

浩

陕西理工大学机械工程学院，汉中

723001

✉通信作者，

E-mail:

cuilikun@

摘

要

针对动态、密集障碍物等复杂环境下多车避障与编队控制存在的容易与障碍物碰撞、编队不稳定等问题，提出一种

基于势场法的多车避障与编队控制方法.

修改引力势场函数使引力大小在距离较大或较小时收敛于某一值，解决前期引力过

大引起的无人车与障碍物碰撞以及目标点不可达问题；采用更平滑的斥力计算公式对斥力势场函数进行优化，解决无人车距

离障碍物过近时斥力过大引起的无人车在障碍物附近徘徊的问题；定义编队稳定力使编队前进过程中保持稳定队形的同时

解决传统人工势场法存在的局部极小值问题；引入动态障碍物速度斥力势场与障碍物数量稀疏区域引力势场使编队在复杂

环境下具有更高的避障与路径规划成功率.

通过仿真实验与传统人工势场法以及改进后的算法进行对比，实验结果表明：本

文方法在复杂环境下能够维持编队稳定性，具有较高的抗干扰能力；相较于传统算法与文献算法在动态障碍物环境下避障成

功率分别提高了35%与10%,在密集动态障碍物环境下分别提高了55%与10%;能够在密集动态障碍物环境下躲避障碍物规

划出合理的路径.

关键词

人工势场；编队控制；避障；动态障碍物；密集障碍物

分类号

TP242.6

Obstacle

avoidance

and

formation

control

of

multiple

unmanned

vehicles

in

complex

environments

based

on

artificial

potential

field

method

MEIYilin，CUILikun✉，HUXueyan，HUGuangqi，WANGHao

School

of

Mechanical

Engineering,

Shaanxi

University

of

Technology,

Hanzhong

723001,

China

✉Corresponding

author,

E-mail:

cuilikun@

ABSTRACT

Addressing

the

increasing

complexity

of

tasks,

single

unmanned

vehicles

have

become

unable

to

meet

actual

operational

requirements,

prompting

a

shift

toward

multivehicle

formation

systems.

However,

in

complex

environments,

issues

such

as

high

collision

rates

and

unstable

formations

in

multivehicle

obstacle

avoidance

and

formation

control

persist.

A

review

of

existing

literature

reveals

that

most

research

focuses

on

static

obstacle

environments,

which

do

not

accurately

reflect

real-world

conditions.

To

tackle

the

issues

of

collision

with

obstacles

and

formation

instability

in

dynamic

and

dense

environments,

a

multivehicle

obstacle

avoidance

and

formation

control

method

based

on

the

potential

field

method

was

proposed.

The

attraction

potential

field

function

was

modified

to

stabilize

the

attraction

force

at

certain

distances,

addre