Fractional attractive force for robust path planning

摘要

A new robust path planning design for a mobile robot was studied in dynamic environment. The normalised attractive force applied to the robot is based on a fictitious fractional attractive potential. This method allows to obtain robust path planning despite robot mass variation. The danger level of each obstacle is characterised by the fractional order of the repulsive potential of the obstacles. Under these conditions, the robot dynamic behaviour was studied by analysing its x-y path planning with dynamic target or dynamic obstacles. The case of simultaneously mobile obstacles and target is also considered. The influence of the robot mass variation is studied and the robustness analysis of the obtained path shows the robustness improvement due to the non-integer order properties.