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.
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Article dans une revue
Transactions on Systems, Signals and Devices, Issue on "Systems, Analysis & Automatic Control", Shaker-Verlag Publisher, 2009, 4 (1), pp.105-118
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https://hal.archives-ouvertes.fr/hal-00204251
Contributeur : Pierre Melchior <>
Soumis le : lundi 14 janvier 2008 - 11:29:23
Dernière modification le : jeudi 11 janvier 2018 - 06:21:06

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  • HAL Id : hal-00204251, version 1

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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〉

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