Skip to Main content Skip to Navigation
Journal articles

Attractive force based on generalized potential for mobile robot path planning in dynamic environment.

Abstract : In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous work, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles. A fractional road was determined by taking into account danger of each obstacle. Danger level of each obstacle is characterized by the fractional order of differentiation. In this paper a comparison between each classical attractive force is presented. Then a new attractive force based on fractional potential is introduced, with the aim to extend the method to dynamic obstacle.
Complete list of metadatas

https://hal.archives-ouvertes.fr/hal-00204251
Contributor : Pierre Melchior <>
Submitted on : Monday, January 14, 2008 - 11:29:23 AM
Last modification on : Thursday, January 11, 2018 - 6:21:06 AM

Identifiers

  • HAL Id : hal-00204251, version 1

Citation

B. Metoui, P. Melchior, S. Najar, A. Poty, M.N. Abdelkrim, et al.. Attractive force based on generalized potential for mobile robot path planning in dynamic environment.. Transactions on Systems, Signals and Devices, Issue on "Systems, Analysis & Automatic Control", Shaker-Verlag Publisher, 2009, 4 (1), pp.105-118. ⟨hal-00204251⟩

Share

Metrics

Record views

142