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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FRACTIONAL POTENTIAL FIELD IN PATH PLANNING FOR MOBILE<br />
AVOIDANCE OF DYNAMIC OBS<br />
Normalized fractional <strong>potential</strong><br />
1<br />
0.9<br />
0.8<br />
0.7<br />
0.6<br />
0.5<br />
0.4<br />
0.3<br />
0.2<br />
0.1<br />
n=2: segment<br />
n=1: ponctual charge<br />
0<br />
0 5 10 15 20 25 30<br />
r =1 r<br />
m<strong>in</strong> Distance<br />
=30<br />
max<br />
1: Influence • n = 1 gives distance the Coulombian of the normalized <strong>potential</strong> <strong>field</strong>fractional generated by <strong>potential</strong> an isolated based charge. on We<br />
n (1 •≤ n n= ≤2 gives 5 ); the coulombian Coulombian <strong>potential</strong> <strong>field</strong> created generated by by a uni<strong>for</strong>mly punctualdistributed charge (n=1<br />
mly distributed charge along charge a straight-l<strong>in</strong>e on a segment segment. (n=2)<br />
5 - 15<br />
n=4<br />
n=3
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