Title :
Robust path planning for mobile robot based on fractional attractive force
Author :
Melchior, Pierre ; Metoui, Brahim ; Najar, Slaheddine ; Abdelkrim, Mohamed Naceur ; Oustaloup, Alain
Author_Institution :
Dept. LAPS, Univ. Bordeaux 1, Talence, France
Abstract :
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 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 new attractive force based on fractional potential was developed. The advantage of the generalized normalized force is the possibility to control its variation. The curve is continuously varying and depends only on one parameter, the non integer order of the generalized attractive potential. But, in case of robot parameter variations, these two previous attractive forces do not allow to obtain robust path planning. In this paper, a new fractional attractive force for robust path planning of mobile robot is defined. This method allows to obtain robust path planning despite robot mass variations. The robustness of the obtained trajectories is studied. A comparison between a classical method and the proposed approach is presented.
Keywords :
collision avoidance; force control; mobile robots; position control; robot dynamics; robust control; dynamic analysis; fractional attractive force control; mobile robot; obstacle avoidance; robot mass variation; robust path planning; trajectory control; Force control; Laboratories; Mobile robots; Orbital robotics; Path planning; Roads; Robust control; Robustness; Trajectory; Uniform resource locators; Attractive force; Dynamic environment; Fractional potential; Mobile robot; Robotics; Robust Path planning;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160599