Title:
ARTIFICIAL POTENTIAL FIELD PATH PLANNING METHOD FOR UNMANNED BICYCLE
Document Type and Number:
WIPO Patent Application WO/2018/176594
Kind Code:
A1
Abstract:
An artificial potential field local path planning method for an unmanned bicycle, comprising: (1) initializing environment information, and determining an initial position of an unmanned bicycle, a target point position, and obstacle information; (2) acquiring information about obstacles around, and calculating influence distances of the obstacles on the unmanned bicycle, and distances from the obstacles to a target position; (3) calculating attractive force and repulsive force on the unmanned bicycle at a current position, improving a repulsive force potential field function and a repulsive force function, and then calculating the magnitude and direction of resultant force; (4) guiding the unmanned bicycle to travel to a next place; (5) determining whether the unmanned bicycle falls into a local minimum point, if yes, entering step (6), or otherwise, entering step (7); (6) adding a virtual obstacle, a repulsive force field being Ja, and entering step (2); and (7) if the virtual obstacle exists, deleting the virtual obstacle, and determining whether the unmanned bicycle reaches the target position or travels a specified distance, if yes, ending, or otherwise, entering step (2).
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Inventors:
WU JIANGUO (CN)
Application Number:
PCT/CN2017/084508
Publication Date:
October 04, 2018
Filing Date:
May 16, 2017
Export Citation:
Assignee:
SHENZHEN JING ZHOU TECH CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
CN105549597A | 2016-05-04 | |||
CN103823466A | 2014-05-28 | |||
CN103744428A | 2014-04-23 | |||
US20100017046A1 | 2010-01-21 |
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