基于速度矢量的路径规划 velocity vector planning

问题阐述:

人工势场法:

其中存在的问题:

速度矢量:

更平滑更新尝试:

w = 10, wp = 0.25 * w:

attractive : Vector deltaX:10.0, deltaY:0.0, length:10.0, direction:[1.0, 0.0]
t_vec length:0.11180339887498938, distance2obstacle:0.8499999999999999
v_pi:Vector deltaX:1.6958015277130467, deltaY:1.9671297721471344, length:2.5971796937950864, direction:[0.6529396220694628, 0.7574099616005768]
dot production result v_g:[[-1.96712977]
[ 1.69580153]]
dot production result v_gg:[[ 1.96712977]
[-1.69580153]]
m :-1.3905572527246988
n:1.3905572527246988
v_g_l:Vector deltaX:5.108989499280293, deltaY:-4.4043012924830105, length:6.74534236186154, direction:[0.7574099616005768, -0.6529396220694627]
repulsion: Vector deltaX:5.108989499280293, deltaY:-4.4043012924830105, length:6.74534236186154, direction:[0.7574099616005768, -0.6529396220694627]
combined velocity:Vector deltaX:15.108989499280293, deltaY:-4.4043012924830105, length:15.737834462349948, direction:[0.9600424718804828, -0.2798543410162015]
current_position:Vector deltaX:1.1651089894992803, deltaY:1.495595698707517, length:1.8958600822329847, direction:[0.614554312535021, 0.7888745127994742]
attractive : Vector deltaX:9.999860858906581, deltaY:0.05275227490965401, length:10.000000000000002, direction:[0.999986085890658, 0.0052752274909654]
t_vec length:0.09636104713243815, distance2obstacle:0.8349026274271675
v_pi:Vector deltaX:1.973973925173492, deltaY:2.2898097532012507, length:3.023210505922539, direction:[0.6529396220694628, 0.7574099616005768]
dot production result v_g:[[-2.28980975]
[ 1.97397393]]
dot production result v_gg:[[ 2.28980975]
[-1.97397393]]
m :-1.6186586186422636
n:1.6186586186422636
v_g_l:Vector deltaX:6.922576902441918, deltaY:-5.967738709001654, length:9.139801763120415, direction:[0.7574099616005768, -0.6529396220694628]
repulsion: Vector deltaX:6.922576902441918, deltaY:-5.967738709001654, length:9.139801763120415, direction:[0.7574099616005768, -0.6529396220694628]
combined velocity:Vector deltaX:16.922437761348498, deltaY:-5.9149864340919995, length:17.926404109642455, direction:[0.9439951067624358, -0.32995944964279705]
current_position:Vector deltaX:1.182031427260629, deltaY:1.489680712273425, length:1.9016695084980613, direction:[0.6215756323474931, 0.7833541557123535]

参考文献

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