Title: Optimal path planning for unmanned ground vehicles using potential field method and optimal control method

Authors: Amr Mohamed; Jing Ren; Alhossein M. Sharaf; Moustafa EI-Gindy

Addresses: Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), 2000 Simcoe St N, Oshawa, ON L1H 7K4, Canada ' Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), 2000 Simcoe St N, Oshawa, ON L1H 7K4, Canada ' Military Technical College, Egyptian Armed Forces, Kobry El Koba, Cairo 11766, Egypt ' Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), 2000 Simcoe St N, Oshawa, ON L1H 7K4, Canada

Abstract: This paper presents an optimal path planning algorithm for unmanned ground vehicle (UGV) to control its direction during parking manoeuvres by employing artificial potential field method (APF) combined with optimal control theory. A linear two-degree-of-freedom vehicle model with lateral and yaw motion is derived and simulated in MATLAB. The optimal control theory is employed to generate an optimal collision-free path For UGV from starting to the desired locations. The obstacle avoidance technique is mathematically modelled using APF including both the attractive and repulsive potential fields. The inclusion of these two potential fields ends up with a new potential field which is implemented to control the steering angle of the UGV to reach to its target location. Several simulations are carried out to check the fidelity of the proposed technique. The results demonstrate the generated path for the UGV can satisfy vehicle dynamics constraints, avoid obstacles and reach the target location.

Keywords: optimal path planning; UGVs; unmanned ground vehicles; potential field methods; optimal control theory.

DOI: 10.1504/IJVP.2018.088780

International Journal of Vehicle Performance, 2018 Vol.4 No.1, pp.1 - 14

Received: 15 Jun 2016
Accepted: 20 Oct 2016
Published online: 19 Dec 2017 *

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