Title: Fractional attractive force for robust path planning

Authors: Brahim Metoui; Pierre Melchior; Slaheddine Najar; Mohamed Naceur Abdelkrim; Alain Oustaloup

Addresses: MACS (Unité de Recherche Modélisation, Analyse et Commande des Systèmes), ENIG (Gabès Engineering School), Rue Omar Ibn El Khattab – 6029 Gabes, Tunisia. ' IMS (UMR 5218 CNRS, Université Bordeaux 1 – IPB/ENSEIRB – MATMECA), Dpt LAPS, Bât. A4, 351 Cours de la Libération, F33405 Talence Cedex, France. ' MACS (Unité de Recherche Modélisation, Analyse et Commande des Systèmes), ENIG (Gabès Engineering School), Rue Omar Ibn El Khattab – 6029 Gabes, Tunisia. ' MACS (Unité de Recherche Modélisation, Analyse et Commande des Systèmes), ENIG (Gabès Engineering School), Rue Omar Ibn El Khattab – 6029 Gabes, Tunisia. ' IMS (UMR 5218 CNRS, Université Bordeaux 1 – IPB/ENSEIRB – MATMECA), Dpt LAPS, Bât. A4, 351 Cours de la Libération, F33405 Talence Cedex, France

Abstract: 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.

Keywords: robotics; mobile robots; robust path planning; fractional potential; attractive force; dynamic environment; robot path planning; robot mass variation; robot dynamics.

DOI: 10.1504/IJMIC.2012.045219

International Journal of Modelling, Identification and Control, 2012 Vol.15 No.2, pp.134 - 143

Published online: 30 Jan 2012 *

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