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. Then a new attractive force based on fractional potential was introduced, with the aim to extend the method to dynamic obstacles characterized by fractional potential fields. In this paper a comparison between each classical attractive force is presented. Then the new attractive force based on fractional potential is introduced. Finally, this attractive force is applied on an example and compare with the Ge and Cui method which is the classical potential fields for motion planning of mobile robots in a dynamic environment.
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ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 4–7, 2007
Las Vegas, Nevada, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4806-X
PROCEEDINGS PAPER
Attractive Force Based on Fractional Potential in Dynamic Motion Planning for Mobile Robot
Pierre Melchior,
Pierre Melchior
Universite´ Bordeaux 1, Talence, France
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Brahim Metoui,
Brahim Metoui
Ecole Nationale d’Inge´nieurs de Gabe`s, Gabe`s, Tunisia
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Alexandre Poty,
Alexandre Poty
Universite´ Bordeaux 1, Talence, France
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Slaheddine Najar,
Slaheddine Najar
Ecole Nationale d’Inge´nieurs de Gabe`s, Gabe`s, Tunisia
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Alain Oustaloup,
Alain Oustaloup
Universite´ Bordeaux 1, Talence, France
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Mohamed Naceur Abdelkrim
Mohamed Naceur Abdelkrim
Ecole Nationale d’Inge´nieurs de Gabe`s, Gabe`s, Tunisia
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Pierre Melchior
Universite´ Bordeaux 1, Talence, France
Brahim Metoui
Ecole Nationale d’Inge´nieurs de Gabe`s, Gabe`s, Tunisia
Alexandre Poty
Universite´ Bordeaux 1, Talence, France
Slaheddine Najar
Ecole Nationale d’Inge´nieurs de Gabe`s, Gabe`s, Tunisia
Alain Oustaloup
Universite´ Bordeaux 1, Talence, France
Mohamed Naceur Abdelkrim
Ecole Nationale d’Inge´nieurs de Gabe`s, Gabe`s, Tunisia
Paper No:
DETC2007-35495, pp. 1423-1430; 8 pages
Published Online:
May 20, 2009
Citation
Melchior, P, Metoui, B, Poty, A, Najar, S, Oustaloup, A, & Abdelkrim, MN. "Attractive Force Based on Fractional Potential in Dynamic Motion Planning for Mobile Robot." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 1423-1430. ASME. https://doi.org/10.1115/DETC2007-35495
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