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首页> 外文会议>ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2007 >ATTRACTIVE FORCE BASED ON FRACTIONAL POTENTIAL IN DYNAMIC MOTION PLANNING FOR MOBILE ROBOT
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ATTRACTIVE FORCE BASED ON FRACTIONAL POTENTIAL IN DYNAMIC MOTION PLANNING FOR MOBILE ROBOT

机译：移动机器人动态运动规划中基于分形势的吸引力

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摘要

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.
机译：在路径规划中，势场引入了力约束以确保轨迹的曲率连续性，从而有助于路径跟踪设计。在先前的工作中，已经开发出了基于分数（或广义）排斥势的路径规划设计，以避免固定障碍。通过考虑每个障碍物的危险来确定小路。每个障碍物的危险等级以区分的分数顺序为特征。然后引入了一种基于分数势的新吸引力，旨在将该方法扩展到以分数势场为特征的动态障碍物。本文提出了每种经典吸引力之间的比较。然后介绍了基于分数势的新吸引力。最后，将该吸引力应用于示例，并与Ge和Cui方法进行比较，Ge和Cui方法是动态环境中移动机器人运动计划的经典潜在领域。

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