• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Vienna International Conference on Mathematical Modelling >Robust Path Planning for Mobile Robot Based on Fractional Attractive Force in 3-Dimension Space
【24h】

Robust Path Planning for Mobile Robot Based on Fractional Attractive Force in 3-Dimension Space

机译：基于三维空间分数吸引力的移动机器人的强大路径规划

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

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 works, a path planning design by fractional (or non integer or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional road was determined by taking into account danger of each obstacle. If the obstacles are dynamic, the method was extended to obtain trajectories by considering repulsive and attractive potentials taking into account position and velocity of the robot with respect to obstacles. Then, a 2-D space attractive force based on fractional potential was developed. The advantage of the generalized normalized force is the possibility to control its variation. The potential curve is continuously varying and depends only on one parameter, the non-integer order. The obtained path is robust in front of robot parameter variations. This paper presents an extension of these fractional attractive forces in 3-D space for UAV application. This method allows to obtain robust path planning in 3-D space despite UAV mass variations. The robustness of the obtained trajectories is studied. A comparison between a classical method and the proposed approach is presented.
机译：在路径规划中，潜在场引入力约束以确保轨迹的曲率连续性，从而促进路径跟踪设计。在以前的作品中，已经开发了由分数（或非整数或广义）排斥电位的路径规划设计以避免固定障碍：每个障碍物的危险程度的特征在于分数的分数，并且通过进入来确定分数道路占每个障碍的危险。如果障碍是动态的，则通过考虑障碍物的位置和机器人的位置和速度，延长该方法以获得轨迹。然后，开发了基于小数潜力的二维空间吸引力。广义归一化力的优点是控制其变化的可能性。潜在曲线连续变化，仅取决于一个参数，非整数顺序。所获得的路径在机器人参数变体前方是稳健的。本文介绍了在3-D空间中的这些分数有吸引力的延伸，用于UAV应用。尽管UAV质量变化，但该方法允许在3-D空间中获得强大的路径规划。研究了所获得的轨迹的稳健性。呈现了经典方法与所提出的方法之间的比较。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号