Fractional potential field in path planning for mobile robot obstacle ...

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ALEXANDRE POTY, PIERRE MELCHIOR AND ALAIN OUSTALOUP Figure 3: Fractional map 3D example - the height is the danger level 2.3 Fractional road • The risk coefficients are fixed at 1.2 for the square, 1.5 for the chamfered rectangle and 2.5 for the circle. rmax = 20 and rmin = 1. The operator chooses a threshold of danger level beyond which it estimates that the risk taken by the robot would be too important. An horizontal cross section of the fractional card at the given threshold 4, provides some equipotential which separates zones where the danger is too important, from zones of security to be used [27]. 6 - 15
Feedback control of a diffusion process - pollution neutralization We consider the pollution neutralization problem. The scenario is described as follows: • A toxic diffusion source is releasing toxic material in 2D plane. The diffusion process is modelled as a parabolic PDE system. • Chemical concentration sensors are deployed to cover the polluted area and collect data about the pollution. • A few of mobile robots equipped with controllable dispensers of neutralizing chemicals are sent to the polluted area with the mission to eliminate the pollution by properly releasing the neutralizing chemicals. Problem: How to choose the optimal positions for these robots and the trajectories the robots will follow when the dynamic diffusion is evolving? 7 - 15
Page 1 and 2: Fractional potential field in path
Page 3 and 4: Coulombian Potential Field The pote
Page 5: FRACTIONAL POTENTIAL FIELD IN PATH
Page 9 and 10: The objectives are: • Control the
Page 11 and 12: Collision Avoidance Now we consider
Page 13 and 14: The mobile robots are treated as vi
Page 15: 0.1. Question ? 15 - 15

Fractional potential field in path planning for mobile robot obstacle ...

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