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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Coulombian Potential Field<br />
The <strong>potential</strong> <strong>field</strong> method is widely used <strong>for</strong> autonomous <strong>mobile</strong> <strong>robot</strong> <strong>path</strong> plann<strong>in</strong>g<br />
due to its elegant mathematical analysis and simplicity [3]. The coulombian<br />
electric <strong>field</strong> E(r) generated by a punctual charge <strong>in</strong> the vacuum is given by:<br />
E(r) =<br />
q<br />
4πε0r 2er.<br />
where ε0 is vacuum permittivity, r is the distance to charge q, and er a radial unit<br />
vector. A s<strong>in</strong>gle <strong>in</strong>tegration provides the coulombian <strong>potential</strong> from the electric<br />
<strong>field</strong> of a punctual charge:<br />
V (r) = q<br />
4πε0r .<br />
We can use two <strong>in</strong>tegration and more to set up the <strong>potential</strong> filed.<br />
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