Research on Multi-Vehicle Trajectory Planning Based on Improved RRT-APF Method

Multi-intelligent vehicle system can meet the needs of various missions. Efficient collaborative planning method is the key to improve its performance. In this paper, the trajectory planning of multi-vehicle system are studied. Firstly, the RRT algorithm which introduced pruning optimization and local replanning was used to plan the global path of each vehicle as the guide of trajectory planning. Then, deductive planning method and asymmetric potential field force are proposed to improve the artificial potential field method, and multi-vehicle sequence planning and collaborative planning are realized. This paper conducted simulation experiments to verify the effectiveness of the method. The experiments proved that the sequence planning method and collaborative planning method both can complete planning tasks under simple working conditions, and the collaborative planning method has higher efficiency under complex working conditions.