Aiming at the defect of target unreachable and local minimum in the unmanned path planning by traditional artificial potential field method, an improved artificial potential field method is proposed in this paper. By rotating the repulsive force by a certain angle, the unmanned vehicle jumps out of the local minimum point, and adopts the safety distance and the adjustment factor in the repulsive field to solve the problem of the target unreachability, and also ensures the safety of unmanned vehicles during obstacle avoidance. The experimental results show that the improved artificial potential field method can better achieve the safe obstacle avoidance of driverless vehicles and effectively plan the optimal target path.

针对传统人工势场法在无人路径规划中目标不可达和局部极小的缺陷，提出一种改进的人工势场法。通过将斥力旋转一定角度，使无人车跳出局部极小点，并采用斥力场中的安全距离和调整系数，解决了目标不可达问题，同时也保证了无人车的安全。避障时的车辆。实验结果表明，改进后的人工势场法能够更好地实现无人驾驶车辆的安全避障，有效规划最优目标路径。