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A multiple constraints modified artificial potential field algorithm for complex dynamic environment

This paper presents an effective multi-constraint modified artificial potential to solve the deadlock and oscillation problems of vehicle routing in complex environment. We design the repulsive potential function by introducing a regulating factor to escape from local minima and eliminate distortion. Meanwhile, considering the relative velocity and direction between obstacles and vehicles, the velocity repulsion potential field is constructed to reduce the computational time and avoid collision with obstacles. Finally, the trajectory around the obstacle is smoother by using the rotation force. Simulation results show the effectiveness of the method.