Fractional potential field in path planning for mobile robot obstacle ...
Fractional potential field in path planning for mobile robot obstacle ...
Fractional potential field in path planning for mobile robot obstacle ...
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The <strong>mobile</strong> <strong>robot</strong>s are treated as virtual particles with unit mass and obey the<br />
second-order dynamical equation:<br />
where the control <strong>in</strong>put Fi is given by<br />
¨pi = Fi<br />
Fi = fi − kv ˙pi + Frep<br />
with fi the <strong>for</strong>ce <strong>in</strong>put to control the motion of the <strong>robot</strong> by CVT. fi is given by a<br />
proportional control law:<br />
fi = −k(pi − ¯pi)<br />
where ¯pi is the computed mass centroid of the current Voronoi cell.<br />
13 - 15<br />
(5)
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