Waypoint Tracking for Collision Avoidance Using Artificial Potential Field

In this paper, we present a waypoint tracking scheme for collision avoidance using artificial potential field (APF). It is shown that using APF is effective in avoiding collision for path planning but it is not reported yet using APF for waypoint tracking. Since waypoints are given in discrete and even irregularly, smoothly joining the local detour path due to an obstacle and the global path given by waypoints is necessary. Otherwise, severe yawing of the heading angle of the vehicle may happen. In this paper, to resolve the problem, we propose a new path planning method based on waypoints using APF. This proposed method was validated with the empirical kinematics vehicle model using MATLAB/Simulink and waypoints given by a leading vehicle driven by a human driver. The simulation results show that the proposed path planning algorithm based on APF is effective for the waypoint tracking scenario.